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

fYear

2014

fDate

28-30 July 2014

Firstpage

5608

Lastpage

5613

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6895898

Filename

6895898