Bilateral teleoperation with communication delays
Copyright policy )Bilateral teleoperation with communication delays
AbstractThis paper focuses on the closed‐loop stability analysis of a teleoperation control scheme subject to time‐delays in the communication channel. The stability conditions derived using a frequency‐domain approach areanalyticaland easy to check.Delay‐independentas well as variousdelay‐intervalsstability cases are treated. The novelty of the approach lies in its simplicity for characterizing the stability regions in terms of the systems' parameters. Physical interpretations are included, and a simple example is presented. Copyright © 2003 John Wiley & Sons, Ltd.
Asymptotic stability in control theory, stability regions, asymptotic stability, Control/observation systems governed by functional-differential equations, master-slave system, delays, frequency analysis, Laplace transfrom, slave device, Hierarchical systems, Application models in control theory, Communication networks in operations research, Frequency-response methods in control theory
Asymptotic stability in control theory, stability regions, asymptotic stability, Control/observation systems governed by functional-differential equations, master-slave system, delays, frequency analysis, Laplace transfrom, slave device, Hierarchical systems, Application models in control theory, Communication networks in operations research, Frequency-response methods in control theory
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