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Journal of Robotics
Volume 2018, Article ID 1018086, 9 pages
Research Article

Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach

School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China

Correspondence should be addressed to Yuling Li; moc.liamg@btsu8lyl

Received 9 November 2017; Accepted 17 January 2018; Published 20 February 2018

Academic Editor: Brady King

Copyright © 2018 Yuling Li. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC) design of linear teleoperation system with time delays, and the stability of the closed-loop system is analyzed. It is shown that the stability is guaranteed delay-independently. The passivity assumption for external forces is removed for the proposed design of teleoperation systems. The behavior of the resulting teleoperation system is illustrated by simulations.