Research ArticleBilateral shared autonomous systems with passive and nonpassive input forces under time varying delay

•Consider stability and tracking control problem of shared autonomous system under varying delay.•Design allows the designer to calculate design parameters a priori.•Lyapunov-Krasovskii function used to establish the stability and transparency under delay.•Evaluation results with comparison are presented to demonstrate the validity of the design.

In this paper, we address stability and tracking control problem of bilateral shared autonomous systems in the presence of passive and nonpassive input interaction forces. The design comprises delayed position and position-velocity signals with the known and unknown structures of the master and slave manipulator dynamics. Using novel Lyapunov-Krasovskii functional, stability and tracking conditions of the coupled master-slave shared autonomous systems are developed under symmetrical and unsymmetrical time varying data transmission delays. This condition allows the designer to estimate the control design parameters to ensure position, velocity and synchronizing errors of the master and slave manipulators. Finally, evaluation results are presented to demonstrate the validity of the proposed design for real-time teleoperation applications.