L2 stability analysis of four channel teleoperation and experiments under varying time delay

Ugur Tumerdem, Kouhei Ohnishi

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

This paper analyses the L2 stability of four channel teleoperation systems under time delay. It is a well known fact that four channel architecture provides the best performance when no delay is present on the communication channels. However when delay is present four channel systems can not guarantee stability or good performance. The L2 analysis we present using small gain theorem indeed confirms that conventional four channel architecture is unstable when damping is not present in the contact surfaces. We propose the damping injection method for four channel teleoperators in order to make the architecture delay independently stable and we show with the same analysis that indeed L2 stability can be achieved given adequate damping injection is applied. We also present experiment results under varying time delay to confirm that the architecture is stable and provides good performance.

本文言語English
ホスト出版物のタイトルAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
ページ643-648
ページ数6
DOI
出版ステータスPublished - 2010 6月 25
イベント2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
継続期間: 2010 3月 212010 3月 24

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
国/地域Japan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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