Stability Analysis of Bilateral Teleoperation System Based on Data Sampling with Time Delay

被引：0

作者：

Huang, Shen ^{[1
]}

Zhang, Yijun ^{[1
]}

Zhu, Tianlin ^{[1
]}

Fang, Chaohai ^{[1
]}

机构：

[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China

来源：

2017 EIGHTH INTERNATIONAL CONFERENCE ON INTELLIGENT CONTROL AND INFORMATION PROCESSING (ICICIP) | 2017年

基金：

中国国家自然科学基金;

关键词：

Bilateral teleoperation system; data sampling; stability; time delay; OUTPUT-FEEDBACK CONTROL; MULTIAGENT SYSTEMS; POSITION TRACKING; DATA CONSENSUS; NETWORKS;

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：

In this paper, the stability problem of bilateral teleoperation systems with data sampling and communication time delays is considered. Two buffers are introduced in the bilateral teleoperation control framework to deal with the issue that the information transmitted between the master and slave sides suffer from time-varying delays. The mathematical model of bilateral teleoperation systems based on data sampling is presented. A stability criterion is proposed by using the Lyapunov-Krasovskii functional method. An example of one degree of freedom bilateral teleoperation system is provided to show the effectiveness of the proposed method.

引用

页码：287 / 292

页数：6

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