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Stability analysis of teleoperation system by state convergence with variable time delay

Abstract:

We propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. A major contribution from this work lies in the demonstration that the structure of a state convergence algorithm can be also applied to nth-order nonlinear teleoperation systems. By choosing a Lyapunov Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known. © 2013 AACC American Automatic Control Council.

Año de publicación:

2013

Keywords:

    Fuente:

    scopusscopus

    Tipo de documento:

    Conference Object

    Estado:

    Acceso restringido

    Áreas de conocimiento:

    • Sistema de control
    • Teoría de control

    Áreas temáticas:

    • Física aplicada
    • Ingeniería y operaciones afines
    • Ciencias de la computación

    Contribuidores:

    Roque J. Saltarén PazmiñoRoque J. Saltarén Pazmiño
    Santonja R.A.Santonja R.A.
    García-Cena C.E.García-Cena C.E.
    Tafur J.C.Tafur J.C.