Robust stability of teleoperation schemes subject to constant and time-varying communication delays

Author

Taotaou, D. ; Niculescu, Silviu-lulian ; Gu, Kequin

Author_Institution

Centre de Recherche de Royallieu, Univ. de Technol. de Compiegne, France

Volume

6

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

5579

Abstract

This paper addresses the robust stability of some bilateral teleoperation control scheme subject to various constant and/or time-varying delays in the communication channel. The stability conditions are derived using frequency-domain techniques. More specifically, in the case of constant delays, the stability regions of the systems´ parameters are completely characterized. Next, the analysis is extended to the case of time-varying uncertain delay, and we derive sufficient (closed-loop) stability conditions.

Keywords

closed loop systems; delays; frequency-domain analysis; robust control; telecommunication channels; telecommunication control; time-varying systems; bilateral teleoperation control scheme; closed-loop stability; communication channel; frequency-domain techniques; robust stability; teleoperation schemes; time-varying communication delays; time-varying uncertain delay; Communication channels; Communication system control; Delay effects; Frequency domain analysis; Humans; Master-slave; Propagation delay; Robust stability; Stability analysis; Teleoperators;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1271890

Filename

1271890