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Stability of Teleoperation Systems for Time-Varying Delays by Neutral LMI Techniques

机译：中立LMI技术的时变时变远程操作系统的稳定性

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摘要

This paper investigates the delay-dependent stability of a teleoperation system based on the transparent Generalized Four-Channel control (G-4C) scheme under time-varying communication delays. To address stability we choose here a primitive result providing a Linear Matrix Inequalities (LMIs) approach based on Lyapunov-Krasovskii functionals. Firstly, the scheme is modeled as the neutral-type differential-delayed equation; that is, the delay affects not only the state but also the state derivative. Secondly, we apply a less conservative stability criteria based on LMIs that are delay dependent and delay's time-derivative dependent. The reason is that, for better performance in the case of small delays, we must accept the possibility that stability is lost for large delays. The approach is applied to an example, and its advantages are discussed. As a result, we propose to modify the values of standard controllers in G-4C defining the γ-4C scheme, which introduces a tuning factor γ to increase in practical conditions the stable region fixing the desired bounds on time-varying delay, with the particularity of maintaining the tracking properties provided by this transparent control scheme. The simulation results justify the proposed control architecture and confirm robust stability and performance.
机译：本文研究时变通信时延下基于透明广义四通道控制（G-4C）方案的远程操作系统的时延相关稳定性。为了解决稳定性，我们在此处选择一种原始结果，该结果基于Lyapunov-Krasovskii函数提供线性矩阵不等式（LMI）方法。首先，将该方案建模为中立型微分时滞方程。即，延迟不仅影响状态，而且影响状态导数。其次，我们基于延迟依赖和延迟的时间导数依赖的LMI应用不太保守的稳定性标准。原因是，为了在小延迟情况下获得更好的性能，我们必须接受大延迟会失去稳定性的可能性。将该方法应用于示例，并讨论其优点。结果，我们建议修改G-4C中定义γ-4C方案的标准控制器的值，该方案引入一个调整因子γ，以在实际条件下增加稳定区域，该区域将时变延迟固定在所需的范围内，维护此透明控制方案提供的跟踪属性的特殊性。仿真结果证明了所提出的控制架构的合理性，并确认了鲁棒的稳定性和性能。

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  • 来源
    《Mathematical Problems in Engineering》 |2012年第11期|467629.1-467629.17|共17页
  • 作者

    Emma Delgado; Miguel Diaz-Cacho; Antonio Barreiro;

  • 作者单位

    Higher Technical School of Industrial Engineering, University of Vigo, 36310 Vigo, Spain;

    Higher Technical School of Computer Engineering, University of Vigo, 32004 Orense, Spain;

    Higher Technical School of Industrial Engineering, University of Vigo, 36310 Vigo, Spain;

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