Stability Analysis of Nonlinear Teleoperation Systems With Time-Varying Delays Via A Delay-Product-Type Functional

This paper is concerned with the stability analysis of a class of nonlinear teleoperation systems with time-varying delays. The proportional derivative position position control scheme with asymmetrical time-varying delays in control loops is considered for the master and the slave robots. Firstly, a new Lyapunov-Krasovskii functional (LKF) with several delay-product-type terms is constructed by using the information of asymmetrical time-varying delays; and the Wirtinger-based integral inequality and the reciprocally convex matrix inequality are used to estimate the derivative of the LKF. As a result, a delay-dependent stability criterion with less conservatism is established. Finally, an example is given to show the effectiveness and merits of the proposed criterion.