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...

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Main Authors: Alireza Khosravi, Alireza Alfi, Amir Roshandel
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
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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
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AT alirezaalfi delaydependentstabilityfortransparentbilateralteleoperationsystemanlmiapproach
AT amirroshandel delaydependentstabilityfortransparentbilateralteleoperationsystemanlmiapproach
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