caa a22 4500 606167013 CHVBK 20210128100700.0 cr unu---uuuuu 210128e20150401xx s 000 0 eng 10.1007/s10665-014-9739-9 doi (NATIONALLICENCE)springer-10.1007/s10665-014-9739-9 State convergence theory applied to a nonlinear and delayed telerobotic system [Elektronische Daten] [Julio Tafur, Cecilia García, Rafael Aracil, Roque Saltaren] State convergence is a control strategy that was proposed in the early 2000s to ensure stability and transparency in a teleoperation system under specific control gains values. This control strategy has been implemented for a linear system with or without time delay. This paper represents the first attempt at demonstrating, theoretically and experimentally, that this control strategy can also be applied to a nonlinear teleoperation system with $$n$$ n degrees of freedom and delay in the communication channel. It is assumed that the human operator applies a constant force on the local manipulator during the teleoperation. In addition, the interaction between the remote manipulator and the environment is considered passive. Communication between the local and remote sites is made by means of a communication channel with variable time delay. In this article the theory of Lyapunov-Krasovskii was used to demonstrate that the local-remote teleoperation system is asymptotically stable. Springer Science+Business Media Dordrecht, 2014 Lyapunov-Krasovskii nationallicence Nonlinear control nationallicence Stability nationallicence Telerobotic nationallicence Time delay nationallicence Tafur Julio Departamento de Ingeniería, Pontificia Universidad Católica del Perú, Lima 32, Lima, Peru aut García Cecilia Centre for Automation and Robotics, Universidad Politécnica de Madrid, 28006, Madrid, Spain aut Aracil Rafael Centre for Automation and Robotics, Universidad Politécnica de Madrid, 28006, Madrid, Spain aut Saltaren Roque Centre for Automation and Robotics, Universidad Politécnica de Madrid, 28006, Madrid, Spain aut Journal of Engineering Mathematics Springer Netherlands 91/1(2015-04-01), 193-210 0022-0833 91:1<193 2015 91 10665 https://doi.org/10.1007/s10665-014-9739-9 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s10665-014-9739-9 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Tafur Julio Departamento de Ingeniería, Pontificia Universidad Católica del Perú, Lima 32, Lima, Peru aut NATIONALLICENCE 700 1- García Cecilia Centre for Automation and Robotics, Universidad Politécnica de Madrid, 28006, Madrid, Spain aut NATIONALLICENCE 700 1- Aracil Rafael Centre for Automation and Robotics, Universidad Politécnica de Madrid, 28006, Madrid, Spain aut NATIONALLICENCE 700 1- Saltaren Roque Centre for Automation and Robotics, Universidad Politécnica de Madrid, 28006, Madrid, Spain aut NATIONALLICENCE 773 0- Journal of Engineering Mathematics Springer Netherlands 91/1(2015-04-01), 193-210 0022-0833 91:1<193 2015 91 10665