Analysis of Absolute Stability for Time-delay Teleoperation Systems

Qi-Wen Deng Qing Wei Ze-Xiang Li

Qi-Wen Deng, Qing Wei, Ze-Xiang Li. Analysis of Absolute Stability for Time-delay Teleoperation Systems[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2007, 4(2): 203-207. doi: 10.1007/s11633-007-0203-4
引用本文: Qi-Wen Deng, Qing Wei, Ze-Xiang Li. Analysis of Absolute Stability for Time-delay Teleoperation Systems[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2007, 4(2): 203-207. doi: 10.1007/s11633-007-0203-4
Qi-Wen Deng, Qing Wei and Ze-Xiang Li. Analysis of Absolute Stability for Time-delay Teleoperation Systems. International Journal of Automation and Computing, vol. 4, no. 2, pp. 203-207, 2007. doi: 10.1007/s11633-007-0203-4
Citation: Qi-Wen Deng, Qing Wei and Ze-Xiang Li. Analysis of Absolute Stability for Time-delay Teleoperation Systems. International Journal of Automation and Computing, vol. 4, no. 2, pp. 203-207, 2007. doi: 10.1007/s11633-007-0203-4

Analysis of Absolute Stability for Time-delay Teleoperation Systems

doi: 10.1007/s11633-007-0203-4
基金项目: 

This work was supported by 863 Program of PRC (No.2002AA742045).

Analysis of Absolute Stability for Time-delay Teleoperation Systems

Funds: 

This work was supported by 863 Program of PRC (No.2002AA742045).

计量
  • 文章访问数:  3422
  • HTML全文浏览量:  36
  • PDF下载量:  2784
  • 被引次数: 0
出版历程
  • 收稿日期:  2006-05-08
  • 修回日期:  2006-08-18
  • 刊出日期:  2007-04-15

Analysis of Absolute Stability for Time-delay Teleoperation Systems

doi: 10.1007/s11633-007-0203-4
    基金项目:

    This work was supported by 863 Program of PRC (No.2002AA742045).

摘要: In this paper, a new bilateral control algorithm based on absolute stability theory is put forward, which aims at the time-delay teleoperation system with force feedback from the slave directly. In the new control algorithm, the delay-dependent stability, instead of delay-independent stability, is taken as the aim of control design. It improves the transparency of the system at the price of unnecessary stability. With this algorithm, the time-delay teleoperation systems have good transparency and stability. A simulation system is established to verify the effect of this algorithm.

English Abstract

Qi-Wen Deng, Qing Wei, Ze-Xiang Li. Analysis of Absolute Stability for Time-delay Teleoperation Systems[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2007, 4(2): 203-207. doi: 10.1007/s11633-007-0203-4
引用本文: Qi-Wen Deng, Qing Wei, Ze-Xiang Li. Analysis of Absolute Stability for Time-delay Teleoperation Systems[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2007, 4(2): 203-207. doi: 10.1007/s11633-007-0203-4
Qi-Wen Deng, Qing Wei and Ze-Xiang Li. Analysis of Absolute Stability for Time-delay Teleoperation Systems. International Journal of Automation and Computing, vol. 4, no. 2, pp. 203-207, 2007. doi: 10.1007/s11633-007-0203-4
Citation: Qi-Wen Deng, Qing Wei and Ze-Xiang Li. Analysis of Absolute Stability for Time-delay Teleoperation Systems. International Journal of Automation and Computing, vol. 4, no. 2, pp. 203-207, 2007. doi: 10.1007/s11633-007-0203-4
参考文献 (13)

目录

    /

    返回文章
    返回