Fuzzy Singularly Perturbed Model and Stability Analysis of Bilateral Teleoperation System

摘要：

The bilateral teleoperation system is the system with time delay and force reflection. On-orbit services is a important application of bilateral teleoperation. It stabilization problem must overcome the bilateral time delay in presence of state and control input. This paper propose a novel stabilization control method based on fuzzy singularly perturbed model of bilateral teleoperation. Firstly,system equations are transformed into state space expression of errors dynamic and built the singularly perturbed model of bilateral teleoperation.Secondly, several linearity matrix inequations(LMI) called stabilization theorem are constructed, then, fuzzy state feedback controller are designed. Finally,Lyaponov function method is used to prove the stabilization theorem. Experimental results show that our approach is valid and has encouraging stabilization performance.

作者: WANG Ruiqi XIA Changjun GU Wenjin LI Kehua

作者单位: Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, P.R.China

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-5

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）