Skip to main content
placeholder image

H∞ state-feedback control of bilateral teleoperation systems with asymmetric time-varying delays

Journal Article


Abstract


  • In this study, a novel controller synthesis method is proposed for the bilateral teleoperation systems with asymmetric timevarying delays. The main idea of the proposed method is to deal with the control problem for a bilateral teleoperation system under asymmetric time-varying delays as a control problem for a system with multiple input time delays, and then to find the state-feedback control law to stabilise the system with guaranteed H ∞ performance on the defined control output.With intentionally introducing the pretend time delays to the (local) state variables of the master or the slave, the teleoperation controller design problem is converted to a controller synthesis problem for a system with multiple input time delays. Then the state-feedback controllers are designed for both the master and the slave by defining an appropriate Lyapunov-Krasovskii functional candidate and solving linear matrix inequalities. The designed controllers guarantee the closed-loop system stability and system transparency performance in terms of the optimised H∞ norm on the position and force tracking errors between the master and the slave. At last numerical simulations are used to validate the effectiveness of the proposed method. The results show that the designed controllers can effectively stabilise the present teleoperation system with good transparency performance under time-varying delays.

Publication Date


  • 2013

Citation


  • H. Du, "H∞ state-feedback control of bilateral teleoperation systems with asymmetric time-varying delays," IET Control Theory and Applications, vol. 7, (4) pp. 594-605, 2013.

Scopus Eid


  • 2-s2.0-84879492209

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/1434

Has Global Citation Frequency


Number Of Pages


  • 11

Start Page


  • 594

End Page


  • 605

Volume


  • 7

Issue


  • 4

Place Of Publication


  • United Kingdom

Abstract


  • In this study, a novel controller synthesis method is proposed for the bilateral teleoperation systems with asymmetric timevarying delays. The main idea of the proposed method is to deal with the control problem for a bilateral teleoperation system under asymmetric time-varying delays as a control problem for a system with multiple input time delays, and then to find the state-feedback control law to stabilise the system with guaranteed H ∞ performance on the defined control output.With intentionally introducing the pretend time delays to the (local) state variables of the master or the slave, the teleoperation controller design problem is converted to a controller synthesis problem for a system with multiple input time delays. Then the state-feedback controllers are designed for both the master and the slave by defining an appropriate Lyapunov-Krasovskii functional candidate and solving linear matrix inequalities. The designed controllers guarantee the closed-loop system stability and system transparency performance in terms of the optimised H∞ norm on the position and force tracking errors between the master and the slave. At last numerical simulations are used to validate the effectiveness of the proposed method. The results show that the designed controllers can effectively stabilise the present teleoperation system with good transparency performance under time-varying delays.

Publication Date


  • 2013

Citation


  • H. Du, "H∞ state-feedback control of bilateral teleoperation systems with asymmetric time-varying delays," IET Control Theory and Applications, vol. 7, (4) pp. 594-605, 2013.

Scopus Eid


  • 2-s2.0-84879492209

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/1434

Has Global Citation Frequency


Number Of Pages


  • 11

Start Page


  • 594

End Page


  • 605

Volume


  • 7

Issue


  • 4

Place Of Publication


  • United Kingdom