Internet-based teleoperation systems with time varying communication delay

This paper deals with the tracking control problem for a class of internet-based teleoperation systems with the presence of the time varying communication delay. The design combines delayed position and derivative signals to construct proportional-derivative (PD) like master-slave teleoperation control systems. Using Lyapunov-Krasovskii-like functional, the controller gains are derived to ensure stable property of the master-slave closed-loop systems. It is shown in our analysis that, for the given master-slave teleoperator systems, the designer can estimate the required gains to achieve asymptotic tracking property of the position and velocity signals for the master and slave systems. Finally, simulation is conducted to demonstrate the validity of the proposed design for real-time teleoperation.