AbstractBilateral synchronization control for Network Teleoperation Robot System (NTRS) in discrete domain is discussed in this paper, where time delay, data loss and disorder, and quantization error coexist. Firstly, it is assumed that time delay and data loss are asymmetric and randomly vary in the master–slave channel and slave–master channel according to different Markov jump change rules. By introducing the virtual variables, a clever normalization method is proposed for time delay or data loss. It not only uniforms time delay and data l...
