A novel control design for delayed teleoperation based on delay-scheduled Lyapunov-Krasovskii functionals

Bo Zhang 1 Alexandre Kruszewski 1 Jean-Pierre Richard 2, 1, 3
1 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
3 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper addresses the controller design problem for bilateral teleoperation over unreliable networks. The stability and tracking performance analysis are presented for a novel force-reflecting emulator control scheme. The performance (stability, synchronization, transparency) is guaranteed by Hinf control theory and delay-scheduled Lyapunov-Krasovskii functionals (LKF), which could improve the existing stability criterion. The design is achieved by using Linear Matrix Inequality (LMI) optimization. For the simulation, firstly, numerical examples are given to demonstrate the effectiveness and benefits of the delay-scheduled LKF-based stability results; secondly, the proposed controller design solution is illustrated by various simulations and compared with other recent approaches under different working conditions, e.g. abrupt tracking motion and wall contact.
Complete list of metadatas

Cited literature [33 references]  Display  Hide  Download

https://hal.inria.fr/hal-00939507
Contributor : Jean-Pierre Richard <>
Submitted on : Thursday, January 30, 2014 - 9:32:04 PM
Last modification on : Friday, March 22, 2019 - 1:36:02 AM
Long-term archiving on : Sunday, April 9, 2017 - 3:49:26 AM

File

IJC.pdf
Files produced by the author(s)

Identifiers

Citation

Bo Zhang, Alexandre Kruszewski, Jean-Pierre Richard. A novel control design for delayed teleoperation based on delay-scheduled Lyapunov-Krasovskii functionals. International Journal of Control, Taylor & Francis, 2014, ⟨10.1080/00207179.2014.883464⟩. ⟨hal-00939507⟩

Share

Metrics

Record views

570

Files downloads

645