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In this paper, a predictive energy-bounding approach (EBA) is presented for haptic bilateral teleoperation that is robustly stable for any time delay and data losses as well as for any uncertain environments over any network.
The TDE function provides a likelihood for any time delay value.
Using the Liapunov LaSalle invariance principle, we show that the washout equilibrium is global asymptotic stability for any time delay.
Under the condition ((mathrm{H}_{1})), for any time delay τ, ((mathrm{H}_{3})) is the necessary and sufficient condition for the permanence of (1.2).
end{gathered} Then the closed loop time-delay system (3 - 5) is asymptotically stable for any time delay τ satisfying (0leqtau leqbar{tau}).
According to Corollary 3.5, when,, the LMIs (3.44) are feasible with,, that means for any time delay function satisfying and, the system (4.1) achieves phase synchronization.
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For a time delay unbalanced network,.
Experimental results show the effectiveness of the proposed predictive EBA for any large time delay while keeping robust stability of the overall system.
It is well-known that the closed-loop stability achieved by some stabilizing output feedback laws is not robust for any small time delay.
The reason for the time delay is that we believe in moderating by hand.
The problem of designing an observer is considered for linear time delay systems with commensurable delays.
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