H ∞ based state feedback robust controller for nonlinear tele-operation system with variable time-delays
作者： Saba Al-Wais , Tae H. Lee , Lakshmanan Shanmugam , Hamid Abdi , Saeid Nahavandi
DOI: 10.1109/ASCC.2017.8287238
关键词:
摘要: This paper is devoted to the problem of robust control for a nonlinear tele-operation system with variable time-delay. Proportional (P) scheme used couple master and slave robotic arms bilaterally. Lyapunov-Krasovskii Functional (LKF) H ∞ design method develop delay-dependent stability conditions that are variations exogenous inputs from operator environment in form Linear Matrix Inequality (LMI). The solved using Matlab LMI toolbox obtain values parameters upper bounds time-delays forward backward communication channels. designed controller efficiency demonstrated simulations.
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