On Exploring the Domain of Attraction for Bilateral Teleoperator Subject to Interval Delay and Saturated P + d Control Scheme

The domain of attraction problem is investigated for networked teleoperation system subject to actuator saturation. The forward and backward time-varying communication delays are assumed to be interval and asymmetric, which is the case for network-based teleoperation system. We propose a novel Lyapunov-Krasovskii functional for the closed-loop teleoperation system with the consideration of the interval values of the time delays. The delay-dependent estimation of the domain of attraction is presented using linear matrix inequality (LMI) technique. The problem of designing P + d control law such that the domain of attraction is enlarged is formulated and solved as an optimization problem with LMI constraints. Experiments are performed to verify the effectiveness of the proposed approach.