Analysis of Absolute Stability for Time-delay Teleoperation Systems

被引：11
作者：
Deng, Qi-Wen [1 ]
Wei, Qing [1 ]
Li, Ze-Xiang [2 ]
机构：
[1] Natl Univ Def Technol, Coll Mechatron & Automat, Changsha 410073, Hunan, Peoples R China
[2] Hong Kong Univ Sci & Technol, Dept Elect & Elect Engn, Hong Kong, Hong Kong, Peoples R China
来源：
INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING | 2007年 / 4卷 / 02期
关键词：
Time-delay; stability; transparency; absolutely stability; delay-dependent stability;
D O I：
10.1007/s11633-007-0203-4
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a new bilateral control algorithm based on absolute stability theory is put forward, which aims at the time-delay teleoperation system with force feedback from the slave directly. In the new control algorithm, the delay-dependent stability, instead of delay-independent stability, is taken as the aim of control design. It improves the transparency of the system at the price of unnecessary stability. With this algorithm, the time-delay teleoperation systems have good transparency and stability. A simulation system is established to verify the effect of this algorithm.
引用
收藏
页码：203 / 207
页数：5
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