Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach
There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and...
Main Authors: | , , |
---|---|
Format: | Article |
Language: | English |
Published: |
Shahrood University of Technology
2013-02-01
|
Series: | Journal of Artificial Intelligence and Data Mining |
Subjects: | |
Online Access: | http://jad.shahroodut.ac.ir/article_101_b0dd3d8871bb7629d6428f4eb236b1cf.pdf |
id |
doaj-4a9355bef9a7499191f18e9cf18a38c6 |
---|---|
record_format |
Article |
spelling |
doaj-4a9355bef9a7499191f18e9cf18a38c62020-11-24T20:56:05ZengShahrood University of TechnologyJournal of Artificial Intelligence and Data Mining2322-52112322-44442013-02-0112758710.22044/jadm.2013.101101Delay-dependent stability for transparent bilateral teleoperation system: an LMI approachAlireza Khosravi0Alireza Alfi1Amir Roshandel2Department of Electrical and Computer Engineering, Babol University of TechnologyFaculty of Electrical and Robotic Engineering, Shahrood University of TechnologyDepartment of Electrical and Computer Engineering, Babol University of TechnologyThere are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communication channel is assumed to be large, unknown and unsymmetric, but the upper bound of the delay is assumed to be known. The proposed method consists of two local controllers. One local controller namely local slave controller is located on the remote site to control the motion tracking and the other one is located on the local site namely local master controller to preserve the complete transparency by ensuring force tracking and the robust stability of the closed-loop system. To reduce the peak amplitude of output signal respect to the peak amplitude of input signal in slave site, the local slave controller is designed based on a bounded peak-to-peak gain controller. In order to provide a realistic case, an external signal as a noise of force sensor is also considered. Simulation results show the effectiveness of proposed control structure.http://jad.shahroodut.ac.ir/article_101_b0dd3d8871bb7629d6428f4eb236b1cf.pdfBilateral teleportation systemComplete Transparencyrobust controlLarge Time DelayLinear Matrix Inequality |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Alireza Khosravi Alireza Alfi Amir Roshandel |
spellingShingle |
Alireza Khosravi Alireza Alfi Amir Roshandel Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach Journal of Artificial Intelligence and Data Mining Bilateral teleportation system Complete Transparency robust control Large Time Delay Linear Matrix Inequality |
author_facet |
Alireza Khosravi Alireza Alfi Amir Roshandel |
author_sort |
Alireza Khosravi |
title |
Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach |
title_short |
Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach |
title_full |
Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach |
title_fullStr |
Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach |
title_full_unstemmed |
Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach |
title_sort |
delay-dependent stability for transparent bilateral teleoperation system: an lmi approach |
publisher |
Shahrood University of Technology |
series |
Journal of Artificial Intelligence and Data Mining |
issn |
2322-5211 2322-4444 |
publishDate |
2013-02-01 |
description |
There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communication channel is assumed to be large, unknown and unsymmetric, but the upper bound of the delay is assumed to be known. The proposed method consists of two local controllers. One local controller namely local slave controller is located on the remote site to control the motion tracking and the other one is located on the local site namely local master controller to preserve the complete transparency by ensuring force tracking and the robust stability of the closed-loop system. To reduce the peak amplitude of output signal respect to the peak amplitude of input signal in slave site, the local slave controller is designed based on a bounded peak-to-peak gain controller. In order to provide a realistic case, an external signal as a noise of force sensor is also considered. Simulation results show the effectiveness of proposed control structure. |
topic |
Bilateral teleportation system Complete Transparency robust control Large Time Delay Linear Matrix Inequality |
url |
http://jad.shahroodut.ac.ir/article_101_b0dd3d8871bb7629d6428f4eb236b1cf.pdf |
work_keys_str_mv |
AT alirezakhosravi delaydependentstabilityfortransparentbilateralteleoperationsystemanlmiapproach AT alirezaalfi delaydependentstabilityfortransparentbilateralteleoperationsystemanlmiapproach AT amirroshandel delaydependentstabilityfortransparentbilateralteleoperationsystemanlmiapproach |
_version_ |
1716790781520379904 |