Controller Design for a Teleoperation System with Time Delay  

作　　者：佘君 焦守江 罗小元 关新平 

机构地区：[1]Institute of Electrical Engineering, Yanshan University,Qinhuangdao 066004 Hebei China

出　　处：《Journal of Electronic Science and Technology of China》2005年第4期348-353,共6页中国电子科技（英文版）

基　　金：National Natural Science Foundation of China (No. 60274023)

摘　　要：A robust controller design method is presented to guarantee the stability and zero tracking error for teleoperation system with time delay. Through choosing appropriate master and slave parameters, extended state equation about master and master-slave error is achieved, which can be analyzed by using time delay knowledge. Thus delay-independent and delay-dependent criteria are derived in terms of the Lyapunov stability theorem, control parameters are obtained by the feasible of linear matrix inequalities. Experimental results show the validity of these approaches and the performance of master and slave manipulators with delay variations is analyzed.A robust controller design method is presented to guarantee the stability and zero tracking error for teleoperation system with time delay. Through choosing appropriate master and slave parameters, extended state equation about master and master-slave error is achieved, which can be analyzed by using time delay knowledge. Thus delay-independent and delay-dependent criteria are derived in terms of the Lyapunov stability theorem, control parameters are obtained by the feasible of linear matrix inequalities. Experimental results show the validity of these approaches and the performance of master and slave manipulators with delay variations is analyzed.

关 键 词：TELEOPERATION time delay delay-independent and delay-dependent criteria 

分 类 号：TM571.6[电气工程—电器]