State Convergence Theory Applied to a Delayed Teleoperation System

Tafur Sotelo, Julio César and García Cena, Cecilia Elisabet and Aracil Santonja, Rafael and 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.

Description

Title: State Convergence Theory Applied to a Delayed Teleoperation System
Author/s:
  • Tafur Sotelo, Julio César
  • García Cena, Cecilia Elisabet
  • Aracil Santonja, Rafael
  • Saltaren Pazmiño, Roque Jacinto
Item Type: Article
Título de Revista/Publicación: Journal of Engineering Mathematics
Date: April 2015
ISSN: 0022-0833
Volume: 91
Subjects:
Freetext Keywords: Lyapunov-Krasovskii. - Nonlinear control. - Stability. - Telerobotic. - Time delay
Faculty: E.T.S.I. Industriales (UPM)
Department: Ingeniería Eléctrica, Electrónica Automática y Física Aplicada
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2009-08778UnspecifiedUnspecifiedUnspecified
Madrid Regional GovernmentP2009/DPI-1559BOCITY2030-IIUnspecifiedUnspecified

More information

Item ID: 34969
DC Identifier: http://oa.upm.es/34969/
OAI Identifier: oai:oa.upm.es:34969
DOI: 10.1007/s10665-014-9739-9
Official URL: http://link.springer.com/article/10.1007/s10665-014-9739-9
Deposited by: Memoria Investigacion
Deposited on: 15 Feb 2016 12:10
Last Modified: 30 May 2019 16:49
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