| Analysis of Absolute Stability for Time-delay Teleoperation Systems |
| |
| 作者姓名： | Qi-Wen Deng Qing Wei Ze-Xiang Li |
| |
| 作者单位： | Qi-Wen Deng Qing Wei Ze-Xiang Li College of Mechatronics and Automation，National University of Defence Technology，Changsha 410073，PRC Department of Electrical and Electronic Engineering，Hong Kong University of Science and Technology，Hong Kong，PRC |
| |
| 基金项目： | This work was supported by 863 Program of PRC (No.2002AA742045). |
| |
| 摘 要： | 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.
|
| 关 键 词： | 时滞 绝对稳定性 遥控系统 透明度 |
| 收稿时间： | 2006-05-08 |
| 修稿时间： | 2006-08-18 |
Analysis of absolute stability for time-delay teleoperation systems |
| |
| Qi-Wen Deng Qing Wei Ze-Xiang Li.Analysis of Absolute Stability for Time-delay Teleoperation Systems[J].International Journal of Automation and computing,2007,4(2):203-207. |
| |
| Authors: | Qi-Wen Deng Qing Wei Ze-Xiang Li |
| |
| Affiliation: | (1) College of Mechatronics and Automation, National University of Defence Technology, Changsha, 410073, PRC;(2) Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong, PRC |
| |
| 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. |
| |
| Keywords: | Time-delay stability transparency absolutely stability delay-dependent stability |
| 本文献已被 CNKI 维普 万方数据 SpringerLink 等数据库收录！ |
| 点击此处可从《国际自动化与计算杂志》浏览原始摘要信息 |
|
点击此处可从《国际自动化与计算杂志》下载全文 |
