Abstract

In this chapter, we investigate the synchronization problem of nonlinear teleoperators in the presence of variable time delay. Compared with previous works, we relax the restriction of the communication delay range. Although approaches to the interval time delay can be found in many literatures, they are not suitable for nonlinear teleoperator due to the properties of robotic systems. We firstly investigate the synchronization of teleoperation system with interval time delay and make full use of the information of both the lower bound and upper bound of delay. All the criteria are presented in form of LMI, which can be easily calculated by Matlab. Finally, numerical example and simulation are given to show the effectiveness of the main results.

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