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.
Type de document :
Article dans une revue
International Journal of Control, Taylor & Francis, 2014, 〈10.1080/00207179.2014.883464〉
Liste complète des métadonnées

Littérature citée [33 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-00939507
Contributeur : Jean-Pierre Richard <>
Soumis le : jeudi 30 janvier 2014 - 21:32:04
Dernière modification le : jeudi 11 janvier 2018 - 06:27:42
Document(s) archivé(s) le : dimanche 9 avril 2017 - 03:49:26

Fichier

IJC.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

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〉

Partager

Métriques

Consultations de la notice

458

Téléchargements de fichiers

501