Analysis of Absolute Stability for Time-delay Teleoperation Systems

Qi-Wen Deng; Qing Wei; Ze-Xiang Li

doi:10.1007/s11633-007-0203-4

Analysis of Absolute Stability for Time-delay Teleoperation Systems

doi: 10.1007/s11633-007-0203-4

1.
College of Mechatronics and Automation, National University of Defence Technology, Changsha 410073, PRC;
2.
Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, PRC

基金项目:

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

Analysis of Absolute Stability for Time-delay Teleoperation Systems

1.
College of Mechatronics and Automation, National University of Defence Technology, Changsha 410073, PRC;
2.
Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, PRC

Funds:

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.
- Time-delay /
- stability /
- transparency /
- absolutely stability /
- delay-dependent stability
Abstract: 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.
- Time-delay /
- stability /
- transparency /
- absolutely stability /
- delay-dependent stability

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Analysis of Absolute Stability for Time-delay Teleoperation Systems

doi: 10.1007/s11633-007-0203-4

Analysis of Absolute Stability for Time-delay Teleoperation Systems

计量

Analysis of Absolute Stability for Time-delay Teleoperation Systems

doi: 10.1007/s11633-007-0203-4

1. College of Mechatronics and Automation, National University of Defence Technology, Changsha 410073, PRC;

2. Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, PRC

English Abstract

Analysis of Absolute Stability for Time-delay Teleoperation Systems

1. College of Mechatronics and Automation, National University of Defence Technology, Changsha 410073, PRC;

2. Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, PRC

全文HTML

目录

Analysis of Absolute Stability for Time-delay Teleoperation Systems

doi: 10.1007/s11633-007-0203-4

Analysis of Absolute Stability for Time-delay Teleoperation Systems

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出版历程

Analysis of Absolute Stability for Time-delay Teleoperation Systems

doi: 10.1007/s11633-007-0203-4

1. College of Mechatronics and Automation, National University of Defence Technology, Changsha 410073, PRC; 2. Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, PRC

English Abstract

Analysis of Absolute Stability for Time-delay Teleoperation Systems

1. College of Mechatronics and Automation, National University of Defence Technology, Changsha 410073, PRC; 2. Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, PRC

全文HTML

目录

1. College of Mechatronics and Automation, National University of Defence Technology, Changsha 410073, PRC;

2. Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, PRC

1. College of Mechatronics and Automation, National University of Defence Technology, Changsha 410073, PRC;

2. Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, PRC