State Convergence Theory Applied to a Delayed Teleoperation System

Tafur Sotelo, Julio César; Garcia Cena, Cecilia Elisabet; Aracil Santonja, Rafael y Saltaren Pazmiño, Roque Jacinto (2015). State Convergence Theory Applied to a Delayed Teleoperation System. "Journal of Engineering Mathematics", v. 91 (n. 1); pp. 193-210. ISSN 0022-0833. https://doi.org/10.1007/s10665-014-9739-9.

Descripción

Título: State Convergence Theory Applied to a Delayed Teleoperation System
Autor/es:
  • Tafur Sotelo, Julio César
  • Garcia Cena, Cecilia Elisabet
  • Aracil Santonja, Rafael
  • Saltaren Pazmiño, Roque Jacinto
Tipo de Documento: Artículo
Título de Revista/Publicación: Journal of Engineering Mathematics
Fecha: Abril 2015
Volumen: 91
Materias:
Palabras Clave Informales: Lyapunov-Krasovskii. - Nonlinear control. - Stability. - Telerobotic. - Time delay
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Ingeniería Eléctrica, Electrónica Automática y Física Aplicada
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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 experimentantally, 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.

Más información

ID de Registro: 34969
Identificador DC: http://oa.upm.es/34969/
Identificador OAI: oai:oa.upm.es:34969
Identificador DOI: 10.1007/s10665-014-9739-9
URL Oficial: http://link.springer.com/article/10.1007/s10665-014-9739-9
Depositado por: Memoria Investigacion
Depositado el: 15 Feb 2016 12:10
Ultima Modificación: 01 May 2016 22:56
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