Bilateral teleoperation with communication delays

Abstract

Abstract This paper focuses on the closed‐loop stability analysis of a teleoperation control scheme subject to time‐delays in the communication channel. The stability conditions derived using a frequency‐domain approach are analytical and easy to check. Delay‐independent as well as various delay‐intervals stability cases are treated. The novelty of the approach lies in its simplicity for characterizing the stability regions in terms of the systems' parameters. Physical interpretations are included, and a simple example is presented. Copyright © 2003 John Wiley & Sons, Ltd.