Networked H∞ synchronization of bilateral teleoperation systems

Author

Dedong Yang ; Haiyong Chen ; Guansheng Xing ; Zuojun Liu ; He-Xu Sun

Author_Institution

Sch. of Control Sci. & Eng., Hebei Univ. of Technol., Tianjin, China

fYear

2014

Firstpage

3771

Lastpage

3774

Abstract

This brief is mainly concerned with the networked H_∞ synchronization problem of master-slave bilateral teleoperation systems with nonuniform sampling. The networked-induced delays and packet dropouts are also considered under a unified framework. The sufficient condition in terms of linear matrix inequality (LMI) is provided to guarantee H_∞ performance for the error dynamics. A simple optimization algorithm is given to obtain the smaller attenuation level γ. Lastly, a numerical example illustrates the validity of the proposed method.

Keywords

H^∞ control; delay systems; linear matrix inequalities; networked control systems; optimisation; synchronisation; telecontrol; H∞ performance; LMI; attenuation level; error dynamics; linear matrix inequality; master-slave bilateral teleoperation systems; networked H∞ synchronization problem; networked-induced delays; nonuniform sampling; optimization algorithm; packet dropouts; sufficient condition; Delay effects; Delays; Linear matrix inequalities; Nonuniform sampling; Robots; Symmetric matrices; Synchronization; Networked control; synchronization; teleoperation;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2014 11th World Congress on

Type

conf

DOI

10.1109/WCICA.2014.7053344

Filename

7053344