A procedure for the guaranteed cost control design of delayed bilateral teleoperation systems with nonlinear external forces is proposed. The assumption that the external forces are nonlinear functions of velocities and/or positions of local devices and that one part of these forces satisfies sector condition has been made. A stability criterion is formulated firstly and then the optimal guaranteed cost controller is obtained by solving the equivalent convex optimization problem in the form of

more »

... inear matrix inequalities (LMIs). The controller preserves closed-loop stability regardless of the delay length. The behavior of the resulting teleoperation system is illustrated in simulations.