Synchronization analysis for nonlinear bilateral teleoperator with interval time-varying delay

被引：16
作者：
Yang, Xian [1 ]
Hua, Changchun [1 ]
Yan, Jing [1 ]
Guan, Xinping [1 ]
机构：
[1] Yanshan Univ, Inst Elect Engn, Qinhuangdao 066004, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2015年 / 25卷 / 13期
基金：
国家教育部博士点专项基金资助; 中国国家自然科学基金;
关键词：
bilateral teleoperation; synchronization; interval time-varying delay; DEPENDENT STABILITY-CRITERIA; NETWORKED CONTROL-SYSTEMS; H-INFINITY CONTROL; FUZZY CONTROL; STABILIZATION; TRACKING; DESIGN;
D O I：
10.1002/rnc.3198
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, we investigate synchronization problem of nonlinear teleoperator in the presence of variable time delay. Compared with previous works, we relax the restriction of the communication delay range. Although approaches to the interval time delay can be found in many literatures, they are not suitable for nonlinear teleoperator due to the properties of robotic systems. We first investigate the synchronization of teleoperation system with interval time delay and make full use of the information of both the lower and upper bounds of delay. All criteria are presented in the form of LMI, which can be easily calculated by MATLAB (MathWorks, USA). Finally, numerical example and simulation are given to show the effectiveness of the main results. Copyright (C) 2014 John Wiley & Sons, Ltd.
引用
收藏
页码：2142 / 2161
页数：20
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