Title :
Robust Control of Motion/Force for Robotic Manipulators With Random Time Delays
Author :
Yu Kang ; Zhijun Li ; Xiaoqing Cao ; Dihua Zhai
Author_Institution :
Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China
Abstract :
In this paper, robust control with delayed measurements is investigated for remote motion/force control of robotic manipulators with random time delays. Both sensor-to-controller and controller-to-actuator random-network-induced delays are considered in the remote networked control. These random-network-induced delays are modeled as Markov processes. Based on the stochastic Lyapunov method, sufficient conditions for the boundedness in probability of system solutions are given. It is proven that all the signals of the robotic manipulator system are bounded in probability. Finally, extensive simulations and experiments are performed to show the effectiveness of the proposed method.
Keywords :
Lyapunov methods; Markov processes; actuators; delays; force control; manipulators; motion control; networked control systems; probability; robust control; sensors; telerobotics; Markov processes; controller-to-actuator random-network-induced delays; delayed measurements; probability; random time delays; remote motion-force control; remote networked control; robotic manipulators; robust control; sensor-to-controller random-network-induced delays; stochastic Lyapunov method; Delay; Delay effects; Manipulator dynamics; Markov processes; Robot sensing systems; Markov process; random time delays; robotic manipulator; robust control; stochastic Lyapunov method;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2012.2220357
