SUMMARY This paper addresses robust stability and position tracking problems in teleoperation systems subject to varying delay in the communication medium, uncertainties in the models of manipulators, and non-passive interaction forces in the terminations. Fixed-structure nonlinear control law is developed based on the notion of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) scheme. Then, utilizing the Lyapunov–Krasovskii theorem, sufficient conditions are derived in terms of Linear Matrix Inequalities (LMIs) to tune the controller parameters. Differently from literature, the objectives are achieved without requirement for any passive parts in the model of interaction forces. Comparative simulations and experimental results demonstrate the applicability and superiority of the proposed method.

中文翻译：

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存在变化的传输延迟、非被动相互作用力和模型不确定性的遥操作系统控制

总结 本文解决了远程操作系统中的鲁棒稳定性和位置跟踪问题，这些问题受到通信介质中变化的延迟、机械手模型中的不确定性以及终端中的非被动相互作用力的影响。固定结构非线性控制律是基于互连和阻尼分配基于无源控制（IDA-PBC）方案的概念开发的。然后，利用 Lyapunov-Krasovskii 定理，根据线性矩阵不等式 (LMI) 导出充分条件以调整控制器参数。与文献不同，目标的实现不需要相互作用力模型中的任何被动部分。对比仿真和实验结果证明了所提方法的适用性和优越性。