Paper Info
Title
Stability analysis of nonlinear telerobotic systems with time-varying communication channel delays using general integral inequalities.
Abstract
Existing controller synthesis schemes for teleoperation of nonlinear master-slave systems with time-varying communication channel are subject to conservative stability criteria. This paper presents a new stability criteria for bilateral tele-operation systems with proportional-derivative, position-position and position-force control architectures, considering both passive/non-passive human operator. The communication channel pertains unknown asymmetric time-varying delays with given lower and upper-bounds. Using the Lyapunov Krasovskii approach, the stability analysis of the dynamic system is examined and the stability conditions are derived in the form of Linear Matrix Inequalities (LMIs). Advanced techniques have been employed to find less conservative integral inequalities in the process of stability analysis of the closed-loop teleoperator. Illustrative numerical examples and simulation results emphasize the effectiveness of the proposed stability criteria in enlarging the stability bounds and providing efficient control performances.
Year
DOI
Venue
2018
10.1016/j.ins.2018.07.014
Information Sciences
Keywords
Field
DocType
Bilateral teleoperation,Linear matrix inequality,Passive teleoperator,Position-position and position-force control architectures
Teleoperation,Lyapunov function,Discrete mathematics,Control theory,Nonlinear system,Human operator,Matrix (mathematics),Control theory,Communication channel,Stability conditions,Mathematics
Journal
Volume
ISSN
Citations 
465
0020-0255
3
PageRank 
References 
Authors
0.39
32
4
Name
Order
Citations
PageRank
R. Baranitha130.39
R. Rakkiyappan2167775.55
Reza Mohajerpoor3535.93
Saba Al-Wais4121.20