DocumentCode
577701
Title
Design and research of time-varying delay teleoperation
Author
Cui, Yan ; Ju, H.-H. ; Cao, Ping ; Dong, G.-H.
Author_Institution
Dept. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China
fYear
2012
fDate
6-8 July 2012
Firstpage
1666
Lastpage
1669
Abstract
This paper designs a new program for mobile robot teleoperation system based on time-varying delay. Then, based on the stability and traceability, external-gain method and two-way symmetrical PID feedback is introduced. Moreover, the stability of system is analyzed and verified by Passive Theory and Lyapunov Theorem. At last, experimental results show that the program can ensure the stability and improve the traceability effectively.
Keywords
Lyapunov methods; control system synthesis; delays; feedback; mobile robots; stability; telerobotics; three-term control; time-varying systems; Lyapunov theorem; external-gain method; mobile robot teleoperation system; passive theory; system stability; time-varying delay teleoperation; traceability; two-way symmetrical PID feedback; Automation; Control engineering; Delay; Educational institutions; Intelligent control; Mobile robots; Stability analysis; stability; teleoperation; time-varying delay; wave variable;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location
Beijing
Print_ISBN
978-1-4673-1397-1
Type
conf
DOI
10.1109/WCICA.2012.6358145
Filename
6358145
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