Modelling and robust H∞ control of teleoperation system with partitioned time-varying delay

被引：0
|
作者：
Chen, Xin [1 ]
Liu, Yicai [1 ]
Zhang, Hongxia [1 ]
机构：
[1] Wuhan Business Univ, Dept Mechatron Engn & Automot Serv, Wuhan, Peoples R China
来源：
2019 22ND INTERNATIONAL CONFERENCE ON ELECTRICAL MACHINES AND SYSTEMS (ICEMS 2019) | 2019年
关键词：
teleoperation system; asymptotic stability; position tracking; time-varying delays; BILATERAL TELEOPERATION; STABILITY;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper investigates the force feedback teleoperation system, and proposes a robust H-infinity output tracking control method By using the state space equations, the dynamics of teleoperation system are modeled, which are incorporated to a uniform form. And the less conservative conditions for the state-feedback controller are presented based on the partitioned time-varying delay method, which can enable the closed-loop system to be asymptotic stability as well as guarantee a prescribed position tracking performance Finally, a simulation example is given to show the validity of the proposed controllers in this paper.
引用
收藏
页码：1320 / 1324
页数：5
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