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
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;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6358145
