This article studies the event-triggered control problem of general nonlinear systems with time delay. A novel event-triggering scheme is presented two tunable design parameters, based on a Lyapunov functional result for input-to-state stability time-delay systems. The proposed algorithm guarantees resulting closed-loop to be globally asymptotically stable, uniformly bounded, and/or attractive ...

Performance and stability of bilateral teleoperation control systems are adversely affected by variations in environment dynamics and time delay in communication channel. Prior relevant research in the literature has mainly yielded control algorithms that sacrifice performance in order to guarantee robust stability. In contrast, this thesis proposes methods to deal with these two main problems ...