Fuzzy Singularly Perturbed Model and Stability Analysis of Bilateral Teleoperation System
会议名称：《第三十届中国控制会议》
会议日期：2011年
学科分类：0711[理学-系统科学] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 071101[理学-系统理论] 0811[工学-控制科学与工程] 0701[理学-数学]
基 金：supported by National High-tech Research and Development Program under Grant 2007AA704339
关 键 词：Bilateral Control Fuzzy Control Teleoperation Singularly Perturb LMI
摘 要：The bilateral teleoperation system is the system with time delay and force ***-orbit services is a important application of bilateral *** stabilization problem must overcome the bilateral time delay in presence of state and control *** paper propose a novel stabilization control method based on fuzzy singularly perturbed model of bilateral ***,system equations are transformed into state space expression of errors dynamic and built the singularly perturbed model of bilateral ***,several linearity matrix inequations(LMI) called stabilization theorem are constructed,then,fuzzy state feedback controller are ***,Lyaponov function method is used to prove the stabilization *** results show that our approach is valid and has encouraging stabilization performance.