A novel control scheme for teleoperation with guaranteed performance under time-varying delays

International audienceThis work deals with the stability and synchronization of systems with time-varying delays. We propose a novel control scheme with position/velocity information channel on the basis of Lyapunov-Krasovskii functional (LKF) and H1 control theory by using Linear Matrix Inequality (LMI). The proposed solution is efficient for different working conditions, such as abrupt motion and wall contact, and this is illustrated by various simulations