Abstract: In this paper, the bilateral teleoperation with haptic feedback is studied under the phase transition between the constraint and unconstraint motions. The stability of the teleoperation with both force feedback and phase transition is proven by Lyapunov–Krasovskii method and hybrid systems theory. The conditions of the theory results are more general than the others, they are time-varying delays, nonlinear systems, force feedback, and phase transition. By using the admittance control, the application results illustrate the efficiency of the proposed control method.

中文翻译：

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具有相变和触觉反馈的稳定的双边遥操作

摘要：本文研究了在约束运动与无约束运动之间的相变下具有触觉反馈的双边遥操作。Lyapunov–Krasovskii方法和混合系统理论证明了具有力反馈和相变的遥操作的稳定性。理论结果的条件比其他条件更普遍，它们是时变延迟，非线性系统，力反馈和相变。通过导纳控制，应用结果说明了该控制方法的有效性。