Robust stability of a teleoperation control scheme subject to time-varying communication delays - Archive ouverte HAL
Book Sections Year : 2004

Robust stability of a teleoperation control scheme subject to time-varying communication delays

Abstract

This chapter addresses the robust stability of some bilateral teleoperation control scheme subject to various constant and/or time-varying delays in the communication channel. The stability conditions arc derived using frequency-domain techniques. More specifically, in the case of constant delays, the stability regions of the systems’ parameters are completely characterized. Next, the analysis is extended to the case of time-varying unccnain delay, and we derive sufficient (closed-loop) stability conditions.

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https://hal.science/hal-02329778

Submitted on : Wednesday, October 23, 2019-4:41:57 PM

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hal-02329778 , version 1 (23-10-2019)

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Damia Taoutaou, Silviu-Iulian Niculescu, Keqin Gu. Robust stability of a teleoperation control scheme subject to time-varying communication delays. Silviu Iulian Niculescu; Keqin Gu. Advances in time-delay systems, 38, Springer Berlin Heidelberg, pp.327-338, 2004, Lecture Notes in Computational Science and Engineering, 978-3-642-18482-6. ⟨10.1007/978-3-642-18482-6_24⟩. ⟨hal-02329778⟩

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