Title :
Networked H∞ synchronization of bilateral teleoperation systems
Author :
Dedong Yang ; Haiyong Chen ; Guansheng Xing ; Zuojun Liu ; He-Xu Sun
Author_Institution :
Sch. of Control Sci. & Eng., Hebei Univ. of Technol., Tianjin, China
Abstract :
This brief is mainly concerned with the networked H∞ synchronization problem of master-slave bilateral teleoperation systems with nonuniform sampling. The networked-induced delays and packet dropouts are also considered under a unified framework. The sufficient condition in terms of linear matrix inequality (LMI) is provided to guarantee H∞ performance for the error dynamics. A simple optimization algorithm is given to obtain the smaller attenuation level γ. Lastly, a numerical example illustrates the validity of the proposed method.
Keywords :
H∞ control; delay systems; linear matrix inequalities; networked control systems; optimisation; synchronisation; telecontrol; H∞ performance; LMI; attenuation level; error dynamics; linear matrix inequality; master-slave bilateral teleoperation systems; networked H∞ synchronization problem; networked-induced delays; nonuniform sampling; optimization algorithm; packet dropouts; sufficient condition; Delay effects; Delays; Linear matrix inequalities; Nonuniform sampling; Robots; Symmetric matrices; Synchronization; Networked control; synchronization; teleoperation;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053344
