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Content Provider | IEEE Xplore Digital Library |
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Author | Changchun Hua Liu, P.X. |
Copyright Year | 2009 |
Description | Author affiliation: Department of Systems and Computer Engineering, Carleton University, Ottawa, ON K1S 5B6, Canada (Changchun Hua; Liu, P.X.) |
Abstract | This paper investigates the stability analysis problem of teleoperation system. Compared with previous work, the communication delays are assumed to be both time-varying and unsymmetric. The stability analysis is performed on two classes of controllers: delayed position error feedback and delayed force feedback. By choosing Lyapunov Krasovskii functional, we show that the master-slave teleoperation system is asymptotically stable under specific LMI conditions. With the given controller design parameters, the proposed stability criteria can be used to compute the allowable maximum delay values. Finally, the simulations are performed to show the effectiveness of the proposed method. |
Starting Page | 1146 |
Ending Page | 1151 |
File Size | 223577 |
Page Count | 6 |
File Format | |
ISBN | 9781424427888 |
ISSN | 10504729 |
DOI | 10.1109/ROBOT.2009.5152630 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2009-05-12 |
Publisher Place | Japan |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Delay Stability analysis Time varying systems Communication system control Force feedback Force control Error correction Master-slave Stability criteria Computational modeling |
Content Type | Text |
Resource Type | Article |
Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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