A novel control scheme for teleoperation with guaranteed performance under time-varying delays

Author

Zhang, Bo ; Kruszewski, Alexandre ; Richard, Jean-Pierre

Author_Institution

Ecole Centrale de Lille, Univ. Lille Nord de France, Villeneuve-d´´Ascq, France

fYear

2011

fDate

23-25 May 2011

Firstpage

300

Lastpage

305

Abstract

This work deals with the stability and synchronization of systems with time-varying delays. We propose a novel control scheme with position/velocity information channel on the basis of Lyapunov-Krasovskii functional (LKF) and H_∞ control theory by using Linear Matrix Inequality (LMI). The proposed solution is efficient for different working conditions, such as abrupt motion and wall contact, and this is illustrated by various simulations.

Keywords

H^∞ control; Lyapunov methods; delays; linear matrix inequalities; motion control; stability; telerobotics; time-varying systems; H_∞ control theory; Lyapunov-Krasovskii functional; abrupt motion; linear matrix inequality; performance guarantee; position information channel; remote slave robot; stability; synchronization; teleoperation; time-varying delay; velocity information channel; wall contact; Asymptotic stability; Delay; Humans; Linear matrix inequalities; Stability criteria; Time varying systems; H∞ Control; Linear Matrix Inequality; Lyapunov-Krasovskii Functional; Teleoperation System; Time-Varying Delay;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2011 Chinese

Conference_Location

Mianyang

Print_ISBN

978-1-4244-8737-0

Type

conf

DOI

10.1109/CCDC.2011.5968191

Filename

5968191