Stability Analysis of Multiple Terminal Systems under Communication Delay by using Delayed Differential Equation

The authors have studied a method for describing the behavior of haptic communication under communication delay by using difference differential equations and determining stability by the roots of the characteristic equation. This paper firstly introduces the outline of this method. Furthermore, we found that this method can be applied to determine the stability of consensus control of multiple terminals under communication delay or systems that simulate diffusion equations with a large number of communication nodes operating autonomously and decentralized. This paper reports the above results.