Title :
Delay and Stability Analysis of Networked Robot System
Author :
Liu, Qiao ; Tang, Xin ; Zhou, Jing
Author_Institution :
Changsha Univ. of Sci. & Technol., Changsha
fDate :
May 30 2007-June 1 2007
Abstract :
To the networked robot system (NRS) that combines or fuses standard communication protocols, human-machine interfaces and practical robots, we are specifically interested in the approach that incorporates a model of the robot, the state of which is updated with the robot´s state. We show that under certain conditions the existence of the solution to the Riccati-like equation and the mean square stability of the networked robot system with perfect state information is guaranteed. We analyze the three delay sources and presented the dynamical equation, and then get the globally exponentially stability condition.
Keywords :
Riccati equations; asymptotic stability; delays; discrete systems; man-machine systems; mean square error methods; robot dynamics; telerobotics; Riccati-like equation; communication protocol; delay; dynamical equation; exponential stability; human-machine interface; mean square stability; networked robot system; robot state; stability analysis; state information; Automatic control; Communication system control; Control systems; IP networks; Network servers; Riccati equations; Robot control; Robotics and automation; Stability analysis; Web server; network delay; networked robot system (NRS); stability analysis;
Conference_Titel :
Control and Automation, 2007. ICCA 2007. IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4244-0818-4
Electronic_ISBN :
978-1-4244-0818-4
DOI :
10.1109/ICCA.2007.4376893
