A Control Scheme for Teleoperation Robot Arms Based on Markov Jump Systems with Time-delay

Abstract

This paper is focused on the synchronous control problem of teleoperation robot arms based on Markov jump linear systems. More specifically, a drive-response Markov model is used to describe the master and slave teleoperation robot arms system. According to linear matrix inequalities (LMIs), we propose a stability condition for Markov jump systems using mode-dependent controllers based on a stochastic Lyapunov function. Singular value decomposition and sparse matrix structuring methods are used to prove the teleoperation control system is stochastically stable. Finally, a simulation example is presented to prove the correctness and truth of the inference.