Robust Stability Analysis of Teleoperation by Delay-Dependent Neutral LMI Techniques

This paper studies the robust stability of teleoperation systems based on the 2-channel force-force (FF) control architecture, modelled by frequency domain or passivity techniques. More precisely, delay-dependent conditions are given as LMIs derived from Lyapunov-Krasovskii functionals. We show that the teleoperation systems are stable under specic LMI conditions. This stability is guaranteed in the presence of admissible uncertainty and neutral-type dierential-delay ed equations, that is, with time-varying delays in the states and their derivative. To evaluate the theoretical analysis, some numerical simulations are presented.

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