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Analysis of absolute stability for time-delay teleoperation systems

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Abstract

In this paper, a new bilateral control algorithm based on absolute stability theory is put forward, which aims at the time-delay teleoperation system with force feedback from the slave directly. In the new control algorithm, the delay-dependent stability, instead of delay-independent stability, is taken as the aim of control design. It improves the transparency of the system at the price of unnecessary stability. With this algorithm, the time-delay teleoperation systems have good transparency and stability. A simulation system is established to verify the effect of this algorithm.

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Authors and Affiliations

  1. College of Mechatronics and Automation, National University of Defence Technology, Changsha, 410073, PRC

    Qi-Wen Deng & Qing Wei

  2. Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, PRC

    Ze-Xiang Li

Authors
  1. Qi-Wen Deng
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  2. Qing Wei
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  3. Ze-Xiang Li
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Corresponding author

Correspondence to Qi-Wen Deng.

Additional information

This work was supported by 863 Program of PRC (No. 2002AA742045).

Qi-Wen Deng received his B. Sc. and the M. Sc. degrees from National University of Defense Technology (NUDT), China, in 1999 and 2002, respectively. He is currently pursuing a Ph. D. degree in NUDT.

His research interests include robotics and automation, especially the control of teleoperate system and space robot.

Qing Wei received his B.Sc. degree from Fudan University, China, in 1990 and the Ph.D. degree from the National University of Defense Tenology (NUDT), China, in 1995. He is currently a professor at the Laboratory of Robot, NUDT.

His research interests include robotics and automation, especially the control of teleoperate robot and intelligent control.

Ze-Xiang Li received his B. Sc. degree in electrical engineering and economics (with honours) from Carnegie-Mellon University, MA degree in mathematics and Ph. D. degree in electrical engineering and computer science from the University of California at Berkeley.

His research interests include robot manipulation, multifingered robotic hands, geometric analysis of robotic mechanisms, intelligent control and nonlinear systems, CAD/CAM and computational metrology.

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Deng, QW., Wei, Q. & Li, ZX. Analysis of absolute stability for time-delay teleoperation systems. Int J Automat Comput 4, 203–207 (2007). https://doi.org/10.1007/s11633-007-0203-4

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  • DOI: https://doi.org/10.1007/s11633-007-0203-4

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