Title :
Adaptive prescribed performance control for nonlinear networked teleoperation system under time delay
Author :
Yang Yana ; Hua Changchun ; Guan Xinping
Author_Institution :
Inst. of Electr. Eng., Yanshan Univ., Qinhuangdao, China
Abstract :
The stability and position synchronization problems are investigated for teleoperation system with asymmetric constant time delays in this paper. Compared with previous work, not only the steady-state performance but also the transient-state performance is considered. In the presence of the system uncertainties, the corresponding adaptive prescribed performance control (APPC) scheme is designed. Moreover, the time-dependent stability conditions are derived by applying the linear matrix inequality (LMI). Finally, the simulation results are presented to demonstrate the effectiveness of the proposed APPC approach.
Keywords :
adaptive control; delays; linear matrix inequalities; manipulators; networked control systems; nonlinear control systems; stability; synchronisation; telerobotics; uncertain systems; APPC scheme; LMI; adaptive prescribed performance control scheme; asymmetric constant time delays; linear matrix inequality; master manipulators; nonlinear networked teleoperation system; position synchronization problem; slave manipulators; stability synchronization problem; system uncertainties; time-dependent stability conditions; Adaptive systems; Delay effects; Manipulators; Stability analysis; Steady-state; Symmetric matrices; Synchronization; Teleoperation; constant time delay; linear matrix inequalities(LMI); prescribed performance;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6895898
