On the closed-loop stability of a teleoperation control scheme subject to communication time-delays

Author

Niculescu, Silviu-Iulian ; Taoutaou, Damia ; Lozano, Rogelio

Author_Institution

Centre de Recherche de Royallieu, Univ. de Technol. de Compiegne, France

Volume

2

fYear

2002

fDate

10-13 Dec. 2002

Firstpage

1790

Abstract

This paper focuses on the closed-loop stability analysis of a teleoperation control scheme subject to delays in the communication channel. The stability conditions derived using a frequency-domain approach are analytical and easy to check. Delay-independent as well as various delay-intervals stability cases are treated. The novelty of the approach lies in its simplicity for characterizing the stability regions in terms of the systems´ parameters. Physical interpretations are included and several examples are also presented.

Keywords

closed loop systems; delays; frequency-domain analysis; stability; telecontrol; closed-loop stability; communication channel; communication time-delays; delay-intervals stability; frequency-domain approach; teleoperation control; Communication channels; Communication system control; Delay; Frequency domain analysis; Hazardous areas; Humans; Master-slave; Sensor phenomena and characterization; Sensor systems; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2002, Proceedings of the 41st IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7516-5

Type

conf

DOI

10.1109/CDC.2002.1184783

Filename

1184783