The Controller Design and Stability Analysis of Teleoperation Systems with Time Delay and without Velocity measurements
作者单位：College of information science and engineeringWuhan University of Science and Technology Engineering Research Center for Metallurgical Automation and Detecting Technology of Ministry of EducationWuhan University of Science and Technology
会议名称：《第36届中国控制会议》
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：08[工学] 0802[工学-机械工程] 080201[工学-机械制造及其自动化]
关 键 词：time-varying delay teleoperation without velocity measurements Lyapunov-Krasovskii functional stability
摘 要：For the multi-degree of freedom teleoperation under time-varying delays,a Proportional-Derivative（PD） like controller,without making use of velocity measurements,is improved in this paper.By choosing Lyapunov-Krasovskii functional,we show that the master-slave teleoperation system is stable under specific conditions.And with the given controller-design parameters,the proposed stability criteria can be used to compute the allowable maximal transmission delay.The results are also compared with the previous to prove its superiority under time-varying delays and finally the effectiveness of the proposed controller has been proved by the simulation of a typical mission.