New stability criteria for networked teleoperation system

Authors:
Xian Yang;Changchun Hua;Jing Yan;Xinping Guan
Affiliations:
Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China and Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China
Venue:
Information Sciences: an International Journal
Year:
2013

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Abstract

The stability problem is studied for teleoperation systems over general communication networks. Compared with previous work, both quantization and time delay issues are considered. The controller used in this paper is in the form of proportional-derivative, and the output signals of master and slave systems are quantized before being transmitted. The stability criteria are presented to show that the controller can stabilize the master-slave system under quantization and variable time delay. Additionally, we propose a new quantized measurement, which can decrease the quantization error. Finally, simulations and detailed analysis are given to show the effectiveness of the main results.