Delay-Independent Robust Stability Analysis of Teleoperation

被引：0
|
作者：
Azadegan, Masoumeh [1 ]
Ozgoli, Sadjaad [2 ]
Taghirad, Hamid Reza [3 ]
机构：
[1] Tarbiat Modares Univ, Control Commun Networks Lab, Tehran, Iran
[2] Tarbiat Modares Univ, Dept Control, Tehran, Iran
[3] KN Toosi Univ Technol, Dept Control, Tehran, Iran
来源：
2011 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6 | 2011年
关键词：
Teleoperation; Delay; Robust Stability; LMI;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers the robust stability of uncertain teleoperation systems. Sufficient stability conditions are derived in terms of LMI by representing the teleoperation scheme in retarded form of time-delay systems. By choosing Lyapunov-Krasovski functional, a delay-independent robust stability criterion is presented. We show that the teleoperation system is stable and has good performance under specific LMI condition. With the given controller parameters, stability of system is guaranteed in the presence of any value of delay and admissible uncertainty. To evaluate the theoretical analysis, Numerical simulations are performed.
引用
收藏
页码：4129 / 4133
页数：5
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