Title :
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
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;
Conference_Titel :
Control and Decision Conference (CCDC), 2011 Chinese
Conference_Location :
Mianyang
Print_ISBN :
978-1-4244-8737-0
DOI :
10.1109/CCDC.2011.5968191
