Paper Info
Title
An Exact Stability Condition for Bilateral Teleoperation With Delayed Communication Channel.
Abstract
In this correspondence paper, an exact method is developed to guarantee asymptotic stability of a bilateral teleoperation system that is subjected for a time-delayed communication. This extends the prior art of searching for the maximum upper bound of time delay. In order to improve the flexibility in controller design and obtain better performance, a fractional-order PD controller is proposed. The exactly stable regions of delays are explored for both integral-order and fractional-order controllers. Compared with conditions in most previous works which are deduced by the Lyapunov-Krasovskii functional and rely on the solution of some linear matrix inequalities, the stability conditions proposed in this paper are established from the frequency domain point of view, and thus, the results are not only sufficient but also necessary. To illustrate accuracy of the conditions, they are simulated on a delayed teleoperation system composed of a pair of robots.
Year
DOI
Venue
2016
10.1109/TSMC.2015.2444415
IEEE Trans. Systems, Man, and Cybernetics: Systems
Keywords
Field
DocType
Delays,Stability analysis,Teleoperators,Asymptotic stability,Arrays,Cybernetics
Teleoperation,Frequency domain,Control theory,Mathematical optimization,Upper and lower bounds,Computer science,Control theory,Matrix (mathematics),Communication channel,Stability conditions,Exponential stability
Journal
Volume
Issue
ISSN
46
3
2168-2216
Citations 
PageRank 
References 
9
0.51
20
Authors
4
Name
Order
Citations
PageRank
Xian Yang1805.84
Changchun Hua21706120.36
Jing Yan315120.02
Xinping Guan42791253.38