DocumentCode
2130942
Title
An IQC formulation of stability analysis for bilateral teleoperation systems with time delays
Author
Polat, Ilhan
Author_Institution
Delft Center for Syst. & Control (DCSC), Tech. Univ. Delft, Delft, Netherlands
fYear
2011
fDate
21-24 June 2011
Firstpage
505
Lastpage
509
Abstract
Many teleoperation applications exhibit significant communication delays between operator commands and the resulting actions at the remote site. In this paper we present the stability analysis of bilateral teleoperation systems in the face of passive human/environment operators and communication time delays via the so-called Integral Quadratic Constraints (IQCs) framework.
Keywords
delays; linear matrix inequalities; stability; telerobotics; bilateral teleoperation systems; communication time delays; integral quadratic constraints framework; stability analysis; Delay; Delay effects; Frequency domain analysis; Humans; Robustness; Stability analysis; Uncertainty; Integral Quadratic Constraints (IQC); Robust Stability; Teleoperation; Unconditional Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
World Haptics Conference (WHC), 2011 IEEE
Conference_Location
Istanbul
Print_ISBN
978-1-4577-0299-0
Electronic_ISBN
978-1-4577-0297-6
Type
conf
DOI
10.1109/WHC.2011.5945537
Filename
5945537
Link To Document