Delay-independent stabilization for teleoperation with time varying delay

Hiroyuki Fujita, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

This paper deals with the stability for nonlinear teleoperation with time varying communication delays. The proposed method is passivity-based controllers with time varying gains which depend on the rate of change of time varying delay. In our proposed method, stability condition is independent of the magnitude of the communication delay and the damping of the system. The delay-independent stability is shown via Lyapunov stability methods. Several experimental results show the effectiveness of our proposed teleoperation.

Original languageEnglish
Title of host publication2009 American Control Conference, ACC 2009
Pages5459-5464
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 23
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: 2009 Jun 102009 Jun 12

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2009 American Control Conference, ACC 2009
CountryUnited States
CitySt. Louis, MO
Period09/6/1009/6/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Fujita, H., & Namerikawa, T. (2009). Delay-independent stabilization for teleoperation with time varying delay. In 2009 American Control Conference, ACC 2009 (pp. 5459-5464). [5160124] (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2009.5160124