TY - GEN
T1 - Stability analysis of teleoperation system by state convergence with variable time delay
AU - Tafur, Julio C.
AU - Garcia, Cecilia
AU - Aracil, Rafael
AU - Saltaren, Roque
PY - 2013
Y1 - 2013
N2 - We propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. A major contribution from this work lies in the demonstration that the structure of a state convergence algorithm can be also applied to nth-order nonlinear teleoperation systems. By choosing a Lyapunov Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known.
AB - We propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. A major contribution from this work lies in the demonstration that the structure of a state convergence algorithm can be also applied to nth-order nonlinear teleoperation systems. By choosing a Lyapunov Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known.
UR - http://www.scopus.com/inward/record.url?scp=84883528471&partnerID=8YFLogxK
U2 - 10.1109/acc.2013.6580730
DO - 10.1109/acc.2013.6580730
M3 - Conference contribution
AN - SCOPUS:84883528471
SN - 9781479901777
T3 - Proceedings of the American Control Conference
SP - 5696
EP - 5701
BT - 2013 American Control Conference, ACC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2013 1st American Control Conference, ACC 2013
Y2 - 17 June 2013 through 19 June 2013
ER -