Acceleration feedback control for nonlinear teleoperation systems with time delays

被引：10

作者：

Li, Yuling ^{[1
,2
]}

Johansson, Rolf ^{[2
]}

Yin, Yixin ^{[1
]}

机构：

[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China

[2] Lund Univ, Dept Automat Control, S-22100 Lund, Sweden

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2015年 / 88卷 / 03期

基金：

中国国家自然科学基金;

关键词：

acceleration feedback; ISS; teleoperation systems; delays; FORCE-REFLECTING TELEOPERATION; BILATERAL TELEOPERATION; COMMUNICATION DELAY; ISS; ALGORITHM;

D O I：

10.1080/00207179.2014.963829

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A procedure for acceleration feedback control of the delayed nonlinear teleoperation system is proposed. The acceleration feedback is applied to the master controller, while in the slave side the position error plus nonlinear damping controller is used to guarantee the input-to-state stability (ISS) of the controlled system. The Lyapunov-Krasovskii methodology is applied to analyse the ISS of the closed-loop system, and hence the passivity assumption for human operators and the environment is not required. The stability criterion is formulated in the form of linear matrix inequalities. The behaviour of the resulting teleoperation system is illustrated in simulations, while the simulation results show that the acceleration feedback controller not only preserves good position tracking performance but also eludes contact instability.

引用

页码：507 / 516

页数：10

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