Abstract
This chapter addresses the stability analysis problem for teleoperation systems with time delays. The communication delays are assumed to be both time-varying and asymmetric, which is the case for network-based teleoperation systems. The stability analysis is performed for the controller composed of delayed position error and velocity signal. By choosing Lyapunov Krasovskii functional, we show that the master-slave teleoperation systems are stable under specific LMI conditions. With the given controller design parameters, the proposed stability criteria can be used to compute the allowable maximal transmission delay. Finally, both simulations and experiments are performed to show the effectiveness of the proposed method.
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Hua, C., Yang, Y., Yang, X., Guan, X. (2019). Stability Analysis of Teleoperation Systems with Asymmetric Time-Varying Delays. In: Analysis and Design for Networked Teleoperation System. Springer, Singapore. https://doi.org/10.1007/978-981-13-7936-9_2
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DOI: https://doi.org/10.1007/978-981-13-7936-9_2
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