Robust Controller Design for Teleoperation Systems With Time-varying Delays

摘要：

This paper presents an LMI approach to design a robust controller for teleoperation systems with unsymmetric time-varying delays. The position error feedback control scheme is considered for the master and slave manipulators. The overall systems is modelled as differential equations with multiple time delays. By using Lyapunov functional, we give the sufficient stability condition dependent on the derivative of the time varying delays in terms of LMI. Moreover, the controller gain design procedure is derived based on the Projection Theorem. A simulation example is given to show the proposed results.

关键词： Biliteral teleoperation unsymmetric time-varying delay position coordination tracking error

作者: Yan Wang Zeng Qi Sun Wu Sheng Chou

作者单位: School of Automation Science and Electrical Engineering Beihang University Beijing 100191, P. R. Chi State Key Lab of Intelligent Technology and Systems Tsinghua University Beijing 100191, P. R. China School of Mechanical Engineering and Automation Beihang University, Beijing 100191, P. R. China

会议类型: 国际会议

会议名称: 2010 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2010)(2010年检测技术与机电自动化国际会议)

会议地点: 长沙

会议语种:英文

页码: 2520-2523

在线出版日期: 2010-03-13（万方平台首次上网日期，不代表论文的发表时间）