Delay-independent robust stability analysis of teleoperation

This paper considers the robust stability of uncertain teleoperation systems. Sufficient stability conditions are derived in terms of LMI by representing the teleoperation scheme in retarded form of time-delay systems. By choosing Lyapunov-Krasovski functional, a delay-independent robust stability criterion is presented. We show that the teleoperation system is stable and has good performance under specific LMI condition. With the given controller parameters, stability of system is guaranteed in the presence of any value of delay and admissible uncertainty. To evaluate the theoretical analysis, Numerical simulations are performed.

[1]  Mark W. Spong,et al.  Bilateral control of teleoperators with time delay , 1989 .

[2]  Wang Wei,et al.  Teleoperated manipulator for leak detection of sealed radioactive sources , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[3]  Jang-Myung Lee,et al.  Internet-based teleoperation of a mobile robot with force-reflection , 2003, Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003..

[4]  Dongjun Lee,et al.  Experimental Comparison Study of Control Architectures for Bilateral Teleoperators , 2009, IEEE Transactions on Robotics.

[5]  R. P. Paul,et al.  A Symbolic Teleoperator Interface For Time-delayed Underwater Robot Manipulation , 1991, OCEANS 91 Proceedings.

[6]  Jean-Jacques E. Slotine,et al.  Stable Adaptive Teleoperation , 1990, 1990 American Control Conference.

[7]  Paolo Fiorini,et al.  A Design and Control Environment for Internet-Based Telerobotics , 1998, Int. J. Robotics Res..

[8]  S. Munir,et al.  Internet-based teleoperation using wave variables with prediction , 2002 .

[9]  Blake Hannaford,et al.  Teleoperation in surgical robotics – network latency effects on surgical performance , 2009, 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[10]  Fuchun Sun,et al.  Space teleoperation with large time delay based on vision feedback and virtual reality , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[11]  Dale A. Lawrence.  Stability and transparency in bilateral teleoperation , 1993, IEEE Trans. Robotics Autom..

[12]  Lu Gui-zhang.  Internet-based Remote Teleoperation Robot System , 2000 .

[13]  Lihua Xie,et al.  Robust control of a class of uncertain nonlinear systems , 1992 .

[14]  Darwin G. Caldwell,et al.  Experiments with a teleoperated system for improved bio-micromanipulations , 2010, The 2010 IEEE International Conference on Information and Automation.

[15]  Jean-Jacques E. Slotine,et al.  Stable adaptive teleoperation , 1991 .

[16]  Yan Wang,et al.  Robust Controller Design for Teleoperation Systems with Time-Varying Delays , 2010, 2010 International Conference on Measuring Technology and Mechatronics Automation.

[17]  Dominiek Reynaerts,et al.  Bounded environment passivity of the classical Position-Force teleoperation controller , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Silviu-Iulian Niculescu,et al.  Survey on Recent Results in the Stability and Control of Time-Delay Systems* , 2003 .

[19]  Mark W. Spong,et al.  Bilateral teleoperation: An historical survey , 2006, Autom..