Design and research of time-varying delay teleoperation

This paper designs a new program for mobile robot teleoperation system based on time-varying delay. Then, based on the stability and traceability, external-gain method and two-way symmetrical PID feedback is introduced. Moreover, the stability of system is analyzed and verified by Passive Theory and Lyapunov Theorem. At last, experimental results show that the program can ensure the stability and improve the traceability effectively.