Robust design for bilateral teleoperation system with Markov jumping parameters
文献类型：会议论文
| 作者 | Weimin Shen ; Jason Gu ; Senior Member ; Evangelos Milos |
| 出版日期 | 2007 |
| 会议名称 | Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 |
| 会议地点 | San Diego,USA |
| 英文摘要 | This paper presents a robust design for the general bilateral teleoperation system with Markov jumping parameters. Although passivity-based approach and robust design-based approach can stabilize the bilateral teleoperation system, sufficient conditions are too conservative. In this paper, requirements for a general bilateral teleoperation system are given first. Next, time delays on the internet are modeled by a Markovprocess with nine states, three for the forward communication branch and three for the backward communication branch. Based on the requirements of the master and the slave controllers, the standard robust design are carried out. Then, with the model of internet time delays, thebilateral teleoperation system is reconstructed by a Markov jumping system. Based on the mode-dependent stability conditions for the stochastic time delay system, the closed-loop controller is designed to obtain the less conservative stable system and to therefore improve the performance of tracking and transparency. Simulation has been carried out and the results verify the feasibility and efficiency of the proposed approach. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/2089]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 推荐引用方式 GB/T 7714 | Weimin Shen,Jason Gu,Senior Member,et al. Robust design for bilateral teleoperation system with Markov jumping parameters[C]. 见:Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. San Diego,USA. |
入库方式： OAI收割
来源：深圳先进技术研究院
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