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Stability of Teleoperation Systems by Delay-dependent Neutral LMI Techniques

In this work we study the stability of several standard teleoperation schemes. This problem is usually addressed by frequency domain Laplace techniques or by passivity techniques. We use an LMI approach based on Lyapunov-Krasovskii functionals. Firstly, the schemes are modelled as differential-delayed equations which are of the neutral type, that is, the delay affects not only the state but also the state derivative. Secondly, we apply stability results that are delay-dependent, the reason is that for better performance for small delays, we must accept the possibility that stability is lost for large delays. The proposed approach is applied to an example, and advantages are discussed