Exponential Stability Analysis of Discrete Linear Teleoperation Systems with Nonuniform Sampling

Teleoperation systems have attracted more attention in processes that human operator’s availability is difficult. In this paper, using retarded functions, teleoperation systems have been modeled as a special case of Network Control Systems (NCS) with nonuniform sampling and network delays. It is assumed that slave and master robots are linear and continues-time systems and input-delay approach is used for the stability analysis. Using the proposed Lyapunov function, the sufficient conditions for the stability of discrete network-based teleoperation system is proposed. It will be represented that the proposed conditions are less conservative than previous recent researches. Also an upper bound of sampling time for discrete control signals is computed in a manner that does not disturb the stability conditions. To meet this condition the problem is defined as the convex optimization program and is represented by the LMI terms. In the simulation part, the behavior of the teleoperation system under the nonuniform sampling is represented and the effect of sampling time on the trade-off between the stability and transparency has been studied.