A Novel Control Scheme for Teleoperation with Guaranteed Performance under Time-Varying Delays

被引：0
|
作者：
Zhang, Bo [1 ]
Kruszewski, Alexandre [1 ]
Richard, Jean-Pierre [1 ]
机构：
[1] Univ Lille Nord France, Ecole Cent Lille, F-59651 Villeneuve Dascq, France
来源：
2011 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6 | 2011年
关键词：
Teleoperation System; Time-Varying Delay; H-infinity Control; Lyapunov-Krasovskii Functional; Linear Matrix Inequality; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work deals with the stability and synchronization of systems with time-varying delays. We propose a novel control scheme with position/velocity information channel on the basis of Lyapunov-Krasovskii functional (LKF) and H-infinity control theory by using Linear Matrix Inequality (LMI). The proposed solution is efficient for different working conditions, such as abrupt motion and wall contact, and this is illustrated by various simulations.
引用
收藏
页码：300 / 305
页数：6
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