File(s) under permanent embargo
H∞ based state feedback robust controller for nonlinear tele-operation system with variable time-delays
conference contribution
posted on 2017-01-01, 00:00 authored by Saba Tareq Salim Al-Wais, T H Lee, Lakshmanan Shanmugam, Hamid AbdiHamid Abdi, Saeid NahavandiThis paper is devoted to the problem of robust control for a nonlinear tele-operation system with variable time-delay. Proportional (P) control scheme is used to couple the master and slave robotic arms bilaterally. Lyapunov-Krasovskii Functional (LKF) and H∞ design method is used to develop delay-dependent stability conditions that are robust to the variations of the exogenous inputs from the operator and environment in the form of Linear Matrix Inequality (LMI). The stability conditions are solved using Matlab LMI toolbox to obtain the values of the control parameters and the upper bounds of the variable time-delays in the forward and backward communication channels. The designed controller efficiency is demonstrated using simulations.
History
Event
Control Systems Society. Conference (2017 : Gold Coast, Qld.)Series
Control Systems Society ConferencePagination
600 - 605Publisher
Institute of Electrical and Electronics EngineersLocation
Gold Coast, Qld.Place of publication
Piscataway, N.J.Publisher DOI
Start date
2017-12-17End date
2017-12-20ISBN-13
978-1-5090-1573-3Language
EnglishPublication classification
E Conference publication; E1 Full written paper - refereedCopyright notice
2017, IEEEEditor/Contributor(s)
[Unknown]Title of proceedings
ASCC 2017 : Proceedings of the 2017 Asian Control ConferenceUsage metrics
Categories
Keywords
Automation & Control SystemsEngineeringEngineering, Electrical & ElectronicH-infinity controlLinear Matrix InequalityLyapunov-Krasovskii functionalScience & TechnologyTechnologyTele-operationVariable time-delayBILATERAL TELEOPERATIONSTABILITY-CRITERIAManufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC