Bilateral teleoperation with communication delays

被引：12
|
作者：
Niculescu, SI [1 ]
Taoutaou, D [1 ]
Lozano, R [1 ]
机构：
[1] Univ Technol Compiegne, CNRS, UMR 6599, HEUDIASYC,Ctr Rech Royallieu, F-60205 Compiegne, France
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2003年 / 13卷 / 09期
关键词：
time-delay; teleoperation; frequency-sweeping; stability;
D O I：
10.1002/rnc.851
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 focuses on the closed-loop stability analysis of a teleoperation control scheme subject to time-delays in the communication channel. The stability conditions derived using a frequency-domain approach are analytical and easy to check. Delay-independent as well as various delay-intervals stability cases are treated. The novelty of the approach lies in its simplicity for characterizing the stability regions in terms of the systems' parameters. Physical interpretations are included, and a simple example is presented. Copyright (C) 2003 John Wiley Sons, Ltd.
引用
收藏
页码：873 / 883
页数：11
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