Robust Stability Analysis and H∞ Controller Design of Teleoperation System with time varying communication delay

被引：0
|
作者：
Hader, Amal [1 ]
El Haousssi, Fatima [2 ]
Tissir, El Houssaine [1 ]
机构：
[1] Sidi Mohammed Ben Abdellah Univ, LESSI, Fac Sci Dhar El Mehraz, Dept Phys, BP 1796, Fes, Morocco
[2] Polydisciplinary Fac, Dept Math & Informat, BP 300, Selouane 62700, Nador, Morocco
来源：
2018 INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS AND COMPUTER VISION (ISCV2018) | 2018年
关键词：
Delay-Dependent Criteria; Stability; LMI; Teleoperation System; H infinity Controller; Tracking Error; UNCERTAIN NEUTRAL SYSTEMS; CRITERIA;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper give a novel linear matrix inequalities (LMI) approach to robust H-infinity controller design of a bilateral teleoperation system. The errors feedback of the position and velocity control scheme are considered for the master and the slave manipulators. The system is modelled as differential equations with communication time-delay. An improved delay dependent stability criterion is derived by constructing a new augmented Lyapunov-Krasovskii (L-K) functional. We prove that the teleoperation system is stable and has good performance under specific LMIs conditions.
引用
收藏
页数：6
相关论文
共 50 条
  • [1] Bilateral Teleoperation System with Time Varying Communication Delay: Stability and Convergence
    Islam, S.
    Liu, P. X.
    El Saddik, A.
    [J]. AUTONOMOUS AND INTELLIGENT SYSTEMS, 2011, 6752 : 156 - 166
  • [2] Controller Design for a Teleoperation System with Time Delay
    佘君
    焦守江
    罗小元
    关新平
    [J]. Journal of Electronic Science and Technology, 2005, (04) : 348 - 353
  • [3] Robust PEB Controller Design for Teleoperation with Variable Time Delay
    Arjmandi, A.
    Khosravi, S.
    Taghirad, H. D.
    [J]. 2013 3RD INTERNATIONAL CONFERENCE ON CONTROL, INSTRUMENTATION, AND AUTOMATION (ICCIA), 2013, : 328 - 333
  • [4] Design and stability analysis of impedance controller for bilateral teleoperation under a time delay
    Hyun Chul Cho
    Jong Hyeon Park
    [J]. KSME International Journal, 2004, 18 : 1131 - 1139
  • [5] Design and stability analysis of impedance controller for bilateral teleoperation under a time delay
    Cho, HC
    Park, JH
    [J]. KSME INTERNATIONAL JOURNAL, 2004, 18 (07): : 1131 - 1139
  • [6] Modelling and robust H∞ control of teleoperation system with partitioned time-varying delay
    Chen, Xin
    Liu, Yicai
    Zhang, Hongxia
    [J]. 2019 22ND INTERNATIONAL CONFERENCE ON ELECTRICAL MACHINES AND SYSTEMS (ICEMS 2019), 2019, : 1320 - 1324
  • [7] Robust Stability for Bilateral Teleoperation Systems Under Time-Varying Delay by Communication Disturbance Observer
    Zeinaly, Zahra
    Ramezani, Amin
    Ozgoli, Sadjaad
    [J]. 2014 SECOND RSI/ISM INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2014, : 143 - 148
  • [8] The Controller Design and Stability Analysis of Teleoperation Systems with Time Delay and without Velocity measurements
    Du Songnan
    Liu Bin
    [J]. PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 8224 - 8229
  • [9] H∞ Robust Controller Design and Experimental Study for Teleoperation System
    Zeng Qingjun
    Liu Haixia
    Chen Xiaokai
    [J]. 2011 30TH CHINESE CONTROL CONFERENCE (CCC), 2011, : 893 - 897
  • [10] The stability analysis for fuzzy controller of uncertain varying time delay system
    Yu Zhongcheng
    Yu Hongtao
    [J]. ICCSE 2008: PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE & EDUCATION: ADVANCED COMPUTER TECHNOLOGY, NEW EDUCATION, 2008, : 426 - 428
12345