基于输入输出方法的遥操作系统时滞相关稳定性分析

2019 International Conference on Intelligent Systems and Advanced Computing Sciences (ISACS) Pub Date : 2019-12-01 DOI:10.1109/ISACS48493.2019.9068883

Amal Hader, Chakir El Kasri, E. Tissir, F. E. Haoussi

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引用次数: 1

摘要

研究了具有时变时滞的双边遥操作系统的稳定性分析问题。利用具有延迟状态三热近似的标度小增益定理(SSG)，选择适当的Lyapunov-Krasovskii (L-K)泛函，用线性矩阵不等式表示了一个新的稳定性判据。该准则可以很容易地用标准数值模拟来检验。

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Delay dependent Stability analysis of Teleoperation Systems via input output approach

In this paper the stability analysis problem of bilateral teleoperation systems with time varying delay is studied. By using the scaled small gain theorem (SSG) with three therms approximation of delayed state, and choosing adequate Lyapunov-Krasovskii (L-K) functional a new stability criterion is expressed in terms of linear matrix inequalities. The criterion can be easily examined using standard numerical simulation.

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来源期刊

2019 International Conference on Intelligent Systems and Advanced Computing Sciences (ISACS)

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