DocumentCode :
3180019
Title :
A new control scheme for bilateral teleoperating systems: Lyapunov stability analysis
Author :
Strassberg, Y. ; Goldenberg, A.A. ; Mills, J.K.
Author_Institution :
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
fYear :
1992
fDate :
12-14 May 1992
Firstpage :
837
Abstract :
The authors investigate the Lyapunov stability property of a control scheme for the bilateral master-slave teleoperator, first introduced by the authors in 1990. Given the nominal models of the master and slave dynamics, and using an approximate feedback linearization control, based on the earlier work of M.W. Spong and M. Vidyasagar (1987), it is shown that Lyapunov stability can be obtained under the assumption that the deviation of the model from the true system satisfies certain norm inequalities. From these norm inequalities, it is shown that the tracking error (position/velocity and force/torque) is bounded and that sufficient conditions for Lyapunov stability can be achieved. The control scheme is illustrated using the simulation of a 30-degree-of-freedom master-slave teleoperator, and the results are presented
Keywords :
Lyapunov methods; dynamics; feedback; linearisation techniques; manipulators; stability; telecontrol; 30-degree-of-freedom master-slave teleoperator; Lyapunov stability analysis; approximate feedback linearization control; bilateral teleoperating systems; dynamics; master-slave teleoperator; sufficient conditions; tracking error; Control systems; Force control; Force feedback; Force measurement; Humans; Lyapunov method; Master-slave; Robust stability; Sufficient conditions; Teleoperators;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
Type :
conf
DOI :
10.1109/ROBOT.1992.220191
Filename :
220191
Link To Document :
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