Delay-dependent stabilization control for asymmetric bilateral teleportation systems with time-varying delays

Teleoperation system is a way of spreading human's sensing and manipulation capability to remote environment by means of telecontrolled technologies. A novel bilateral teleportation controller is proposed to deal with the problem of delay-dependent robust stability for time-varying asymmetric delays. The stability and transparency performance is obtained by delay-scheduled Lyapunov-Krasovskii functionals (LKF) which apply tighter bounding technology. Moreover, the controller synthesis conditions are achieved by using Linear Matrix Inequality (LMI) optimization. Finally, an experimental validation is conducted using Matlab and Simulink toolkits to demonstrate the stability and effectiveness of the proposed method.