State convergence theory applied to a nonlinear and delayed telerobotic system

Julio C. Tafur, Cecilia García, Rafael Aracil, Roque Saltaren

Producción científica: Contribución a una revistaArtículorevisión exhaustiva

2 Citas (Scopus)


State convergence is a control strategy that was proposed in the early 2000s to ensure stability and transparency in a teleoperation system under specific control gains values. This control strategy has been implemented for a linear system with or without time delay. This paper represents the first attempt at demonstrating, theoretically and experimentally, that this control strategy can also be applied to a nonlinear teleoperation system with n degrees of freedom and delay in the communication channel. It is assumed that the human operator applies a constant force on the local manipulator during the teleoperation. In addition, the interaction between the remote manipulator and the environment is considered passive. Communication between the local and remote sites is made by means of a communication channel with variable time delay. In this article the theory of Lyapunov–Krasovskii was used to demonstrate that the local–remote teleoperation system is asymptotically stable.

Idioma originalInglés
Páginas (desde-hasta)193-210
Número de páginas18
PublicaciónJournal of Engineering Mathematics
EstadoPublicada - abr. 2015
Publicado de forma externa


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