Observer-based control of bilateral teleoperation with time delay

被引：0

作者：

Zhu, Tianlin ^{[1
]}

Zhang, Yijun ^{[2
]}

机构：

[1] Nanjing Univ Sci & Technol, Adv Launching Coinnovat Ctr, Nanjing 210094, Jiangsu, Peoples R China

[2] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China

来源：

2018 5TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING (ICISCE 2018) | 2018年

基金：

中国国家自然科学基金;

关键词：

Bilateral teleoperation; stability; observer; time delay; SYNCHRONIZATION; SYSTEMS;

D O I：

10.1109/ICISCE.2018.00180

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is concerned with the stability analysis problem of a bilateral teleoperation system. An observer-based control scheme is proposed to deal with the communication delays, which are time varying and asymmetric. The proposed control method is applied to the situation that the velocities of the master and slave are not available. Two observers are designed to estimate the velocities of each robot. Some sufficient criteria are derived to ensure the considered system to be stable by using the Lyapunov functional method. The proposed criteria are given in terms of linear matrix inequalities (LMIs) which is easy to be checked. The effectiveness of the obtained results are illustrated by a numerical example.

引用

页码：859 / 863

页数：5

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