Convergence analysis of teleoperation systems with unsymmetric time-varying delays

Authors:
Chang-Chun Hua;Peter X. Liu
Affiliations:
Department of Systems and Computer Engineering, Carleton University, Ottawa, ON, Canada and Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China;Department of Systems and Computer Engineering, Carleton University, Ottawa, ON, Canada
Venue:
IEEE Transactions on Circuits and Systems II: Express Briefs
Year:
2009

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Abstract

This brief addresses the stability problem of a class of teleoperation systems. Compared with previous work, the communication delays are assumed to be both time varying and unsymmetric. We consider the usual case that the master and the slave manipulators are coupled using a proportional-derivative (PD) control strategy. By using a new Lyapunov-Krasovskii functional, we show that the master-slave teleoperation system is asymptotically stable under specific linear matrix inequality (LMI) conditions. With the given PD parameters, the values of allowable maximum time delays can be obtained. Finally, simulations are performed to show the effectiveness of the proposed method.