delay-dependent stability for transparent bilateral teleoperation system: an lmi approach

نویسندگان

alireza khosravi

alireza alfi

amir roshandel

چکیده

there are two significant goals in teleoperation systems: stability and performance. this paper introduces an lmi-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. the uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. the time delay in communication channel is assumed to be large, unknown and unsymmetric, but the upper bound of the delay is assumed to be known. the proposed method consists of two local controllers. one local controller namely local slave controller is located on the remote site to control the motion tracking and the other one is located on the local site namely local master controller to preserve the complete transparency by ensuring force tracking and the robust stability of the closed-loop system. to reduce the peak amplitude of output signal respect to the peak amplitude of input signal in slave site, the local slave controller is designed based on a bounded peak-to-peak gain controller. in order to provide a realistic case, an external signal as a noise of force sensor is also considered. simulation results show the effectiveness of proposed control structure.

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach

There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communicatio...

متن کامل

Robust Stability Analysis of Teleoperation by Delay-Dependent Neutral LMI Techniques

Abstract This paper studies the robust stability of teleoperation systems based on the 2-channel force-force (FF) control architecture, modelled by frequency domain or passivity techniques. More precisely, delay-dependent conditions are given as LMIs derived from Lyapunov-Krasovskii functionals. We show that the teleoperation systems are stable under specific LMI conditions. This stability is g...

متن کامل

(Corr. to) Delay-dependent exponential stability analysis of delayed neural networks: an LMI approach

For neural networks with constant or time-varying delays, the problems of determining the exponential stability and estimating the exponential convergence rate are studied in this paper. An approach combining the Lyapunov-Krasovskii functionals with the linear matrix inequality is taken to investigate the problems, which provide bounds on the interconnection matrix and the activation functions,...

متن کامل

Stable adaptive bilateral control of transparent teleoperation through time-varying delay

Passivity concept has been using as a framework to solve the stability problem in bilateral control of telemanipulation. However, the conservative selection of dissipating element applied to maintain system stability in network communication leads the system to imperfect operation or losing transparency. In this paper, we proposed a new control scheme to adapt characteristic impedance with time...

متن کامل

Delay-dependent H∞ Variable Structure Control of Uncertain Singular Time-delay Systems: An LMI Approach

A delay-dependent H∞ variable structure control is presented for uncertain singular time-delay systems. System with mismatched norm-bounded uncertainties and mismatched norm-bounded external disturbances are considered. In terms of linear matrix inequalities (LMIs), we give a delay-dependent sufficient condition for the existence of switching surfaces, on which sliding mode dynamics is regular,...

متن کامل

LMI-based Delay-dependent Global Exponential Stability for Cellular Neural Networks with Time-varying Delay

Department of Electrical Engineering, National SunYat-Sen University, Kaohsiung, Taiwan 804, R.O.C. Email: [email protected] Department of Marine Engineering, National Kaohsiung Marine University, Kaohsiung, Taiwan 811, R.O.C. Email: [email protected] Abstract The global exponential stability for a class of delayed cellular neural networks (DCNN) with time-varying delay is c...

متن کامل

منابع من

با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید


عنوان ژورنال:
journal of ai and data mining

ناشر: shahrood university of technology

ISSN 2322-5211

دوره 1

شماره 2 2013

میزبانی شده توسط پلتفرم ابری doprax.com

copyright © 2015-2023