@inproceedings{oai:kanazawa-u.repo.nii.ac.jp:00009985,
 author = {Kawada, Hisanosuke and Namerikawa, Toru},
 book = {Proceedings of the American Control Conference},
 month = {Jan},
 note = {This paper addresses the bilateral control of nonlinear teleoperation with time varying communication delays. The proposed methods are two types of simple PD-type controllers which consists of D-controls depending on (the upper bound of) the rate of change of delay and P-controls depending on the upper bound of round-trip delay. Using Lyapunov-Krasovskii function, the delay-dependent stability of the origin is shown for the ranges of gains. Furthermore the proposed strategies also achieve master-slave position coordination and bilateral static force reflection. Several experimental results show the effectiveness of our proposed methods. ©2008 AACC.},
 pages = {189--194},
 publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
 title = {Bilateral control of nonlinear teleoperation with time varying communication delays},
 year = {2008}
}