Adaptive Prescribed Performance Control for Nonlinear Networked Teleoperation System under Time Delay

摘要：

　　The stability and position synchronization problems are investigated for teleoperation system with asymmetric constant time delays in this paper.Compared with previous work,not only the steady-state performance but also the transient-state performance is considered.In the presence of the system uncertainties,the corresponding adaptive prescribed performance control(APPC)scheme is designed.Moreover,the time-dependent stability conditions are derived by applying the linear matrix inequality(LMI).Finally,the simulation results are presented to demonstrate the effectiveness of the proposed APPC approach.

关键词： Teleoperation prescribed performance constant time delay linear matrix inequalities(LMI)

作者: YANG Yana HUA Changchun GUAN Xinping

作者单位: Institute of Electrical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,P.R.China Institute of Electrical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,P.R.China;Institute

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 5608-5613

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）