Stability Analysis of Teleoperation System by State Convergence with Variable Time Delay

Tafur Sotelo, Julio César and García, Cecilia and Aracil Santonja, Rafael and Saltaren Pazmiño, Roque Jacinto (2013). Stability Analysis of Teleoperation System by State Convergence with Variable Time Delay. In: "American Control Conference (ACC), 2013", 17/06/2013 - 19/06/2013, Washington, DC - USA. ISBN 978-1-4799-0177-7. pp. 5696-5701.

Description

Title: Stability Analysis of Teleoperation System by State Convergence with Variable Time Delay
Author/s:
  • Tafur Sotelo, Julio César
  • García, Cecilia
  • Aracil Santonja, Rafael
  • Saltaren Pazmiño, Roque Jacinto
Item Type: Presentation at Congress or Conference (Article)
Event Title: American Control Conference (ACC), 2013
Event Dates: 17/06/2013 - 19/06/2013
Event Location: Washington, DC - USA
Title of Book: American Control Conference (ACC), 2013
Date: 2013
ISBN: 978-1-4799-0177-7
Subjects:
Freetext Keywords: Lyapunov methods, asymptotic stability, convergence,delays, nonlinear control systems, random processes, telerobotics, time-varying systems
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2009-08778CICYTUnspecifiedUnspecified
Madrid Regional GovernmentP2009/DPI-1559ROBOCITY2030-IIUnspecifiedUnspecified

More information

Item ID: 34983
DC Identifier: http://oa.upm.es/34983/
OAI Identifier: oai:oa.upm.es:34983
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6580730
Deposited by: Memoria Investigacion
Deposited on: 07 Mar 2016 11:25
Last Modified: 18 May 2016 09:44
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