Tracking improvement based on the proxy control scheme for bilateral teleoperation system under time-varying delays
作者： Bo Zhang , Alexandre Kruszewski , Jean-Pierre Richard
DOI: 10.1109/ETFA.2011.6059058
关键词:
摘要: This paper addresses the problem of position/force tracking in teleoperation system and proposes a haptic proxy control scheme. Compared to previous works, communication delays are assumed be both time-varying asymmetric, response synchronization transparency improved. The design is performed using Linear Matrix Inequality (LMI) optimization based on Lyapunov-Krasovskii functionals (LKF) H ∞ theory. With designed controllers, simulations different working conditions, such as abrupt motion wall contact, show effectiveness proposed solution.
archives-ouvertes.fr
researchgate.net 
sci-hub.se 参考文章(24)
Xian-Ming Zhang, Qing-Long Han, Brief paper: Robust H∞ filtering for a class of uncertain linear systems with time-varying delay Automatica. ,vol. 44, pp. 157- 166 ,(2008) , 10.1016/J.AUTOMATICA.2007.04.024
Jie Chen, Vladimir Kharitonov, Kequin Gu, Stability of Time-Delay Systems ,(2003)
G. Tadmor, The standard H/sub /spl infin// problem in systems with a single input delay IEEE Transactions on Automatic Control. ,vol. 45, pp. 382- 397 ,(2000) , 10.1109/9.847719
Dapeng Han, Zhilin Hou, Feng Li, Qing Wei, Design on a half closed-loop bilateral teleoperation system chinese control conference. pp. 3432- 3436 ,(2010)
Emilia Fridman, A new Lyapunov technique for robust control of systems with uncertain non-small delays IMA Journal of Mathematical Control and Information. ,vol. 23, pp. 165- 179 ,(2006) , 10.1093/IMAMCI/DNI051
Jean-Pierre Richard, Time-delay systems: an overview of some recent advances and open problems Automatica. ,vol. 39, pp. 1667- 1694 ,(2003) , 10.1016/S0005-1098(03)00167-5
Sandro Zampieri, Trends in Networked Control Systems IFAC Proceedings Volumes. ,vol. 41, pp. 2886- 2894 ,(2008) , 10.3182/20080706-5-KR-1001.00486
Joono Cheong, Silviu-Iulian Niculescu, Robust Motion Synchronization Control for Interconnected Systems with Human Interaction IFAC Proceedings Volumes. ,vol. 41, pp. 6347- 6352 ,(2008) , 10.3182/20080706-5-KR-1001.01071
Bo Zhang, Alexandre Kruszewski, Jean-Pierre Richard, A novel control scheme for teleoperation with guaranteed performance under time-varying delays chinese control and decision conference. pp. 300- 305 ,(2011) , 10.1109/CCDC.2011.5968191
W. Jiang, A. Kruszewski, J.P. Richard, A. Toguyeni, A gain scheduling strategy for the control and estimation of a remote robot via Internet chinese control conference. pp. 793- 799 ,(2008) , 10.1109/CHICC.2008.4605866