Acceleration Feedback Control for Teleoperation Systems with Asymmetric Time-Varying Delays

摘要：

　　Procedure for acceleration feedback control of teleoperation systems with asymmetric time-varying delays is proposed.The acceleration feedback is applied to the master controller,while in the slave side the position error plus damping controller is used.The ISS/IOS small-gain theory is applied to analyze the stability of the closed-loop system,and hence the passivity assumption for the human operator and the environment is not required.Simulation results are presented,which show that the resulting teleoperation system is stable with good tracking performance between the master and the slave.

关键词： teleoperation systems time-varying delays small-gain theory acceleration feedback

作者: Yuling Li Yixin Yin

作者单位: School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing, 100083, China

会议类型: 国际会议

会议名称: 2015 IEEE Advanced Information Technology, Electronic and Automation Control Conference(IAEAC 2015)(2015 IEEE先进信息技术,电子与自动化控制国际会议)

会议地点: 重庆

会议语种:英文

页码: 328-333

在线出版日期: 2015-12-19（万方平台首次上网日期，不代表论文的发表时间）