Control schemes for stable teleoperation with communication delay based on IOS small gain theorem

被引：70

作者：

Polushin, IG

Tayebi, A

Marquez, HJ

机构：

[1] Carleton Univ, Dept Syst & Comp Engn, Ottawa, ON K1S 5B6, Canada

[2] Lakehead Univ, Dept Elect Engn, Thunder Bay, ON P7B 5E1, Canada

[3] Univ Alberta, Dept Elect & Comp Engn, Edmonton, AB T6G 2M7, Canada

来源：

AUTOMATICA | 2006年 / 42卷 / 06期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Telerobotics; time delay systems; small gain theorem; input-to-state stability;

D O I：

10.1016/j.automatica.2006.02.020

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of stabilization of a force-reflecting telerobotic system in presence of time delay in the communication channel is addressed. We introduce an approach that is based on application of the input-to-output stability (IOS) small gain theorem for functional differential equations (FDEs). A version of the stabilization algorithm as well as its two adaptive extensions are proposed. For all these control schemes, the input-to-state stability (ISS) of the overall telerobotic system is guaranteed in the global, global practical, or semiglobal practical sense for any constant communication delay under the assumption that the environmental dynamics satisfy a weak form of finite-gain stability property. As an intermediate step, we formulate and prove a general IOS (ISS) small gain result for FDEs. (c) 2006 Elsevier Ltd. All rights reserved.

引用

页码：905 / 915

页数：11

共 19 条

[11] TELEROBOTICS [J].