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Improved delay-dependent stability criteria for telerobotic systems with time-varying delays
journal contribution
posted on 2018-12-01, 00:00 authored by Saba Tareq Salim Al-Wais, R Mohajerpoor, Lakshmanan Shanmugam, Hamid AbdiHamid Abdi, Saeid NahavandiThis paper addresses the synchronization problem of telerobotic systems, in which the master and slave robots are assumed to be serial manipulators and the communication-delays are assumed to be time-varying and nonsymmetric with known lower and upper bounds. Proportional derivative, proportional, and position-force control structures are considered for passive and nonpassive human operator. Using the Lyapunov-Krasovskii methodology, delay-dependent stability conditions of the closed-loop system are established in the form of linear matrix inequalities. The stability criteria derived in this paper is shown to be less conservative than some of the existing results within the literature, and they amend the calculation of the control parameters and ensure the stability and transparency of the system for larger bounds of communication-delays. Simulation studies are performed to demonstrate the effectiveness of the proposed stability criteria in obtaining a larger stability region for the system.
History
Journal
IEEE transactions on systems, man, and cybernetics: systemsVolume
48Issue
12Pagination
2470 - 2484Publisher
IEEELocation
Piscataway, N.J.Publisher DOI
ISSN
2168-2216eISSN
2168-2232Language
engPublication classification
C1 Refereed article in a scholarly journalCopyright notice
2017, IEEEUsage metrics
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No categories selectedKeywords
Science & TechnologyTechnologyAutomation & Control SystemsComputer Science, CyberneticsComputer ScienceForce trackinglinear matrix inequality (LMI)Lyapunov-Krasovskii (LK)position trackingposition-force (PF) teleoperationposition-position (PP) teleoperationteleoperation transparencyvariable time-delayFORCE-REFLECTING TELEOPERATIONBILATERAL TELEOPERATIONCONTROL SCHEMECONTROLLER
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