ON THE CLOSED-LOOP STABILITY ANALYSIS OF TRANSPARENT TELEOPERATION SYSTEMS WITH TIME-VARYING DELAY USING A NEW STRUCTURE

In this paper, a new structure for teleoperated systems with time-varying delay in communication channel will be proposed, which provides transparency for the system. The key features of this structure are its simple design as well as the ability to analyze the stability of the closed-loop system using the property of the stable scalar functions and the small gain theorem. In the proposed structure, two local controllers will be designed, such that the transparency of the teleoperated system as well as the local stabilities is guaranteed. One local controller will be designated for position tracking of the slave system and the other one, whilst ensuring the stability of the closed-loop system in presence of time-varying delay in communication channel, performs the force tracking.