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Stability of Teleoperation Systems for Time-Varying Delays by Neutral LMI Techniques
المؤلفون المشاركون
Delgado Romero, Emma
Díaz-Cacho Medina, Miguel
Barreiro Blas, Antonio
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2012، العدد 2012 (31 ديسمبر/كانون الأول 2012)، ص ص. 1-17، 17ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2012-12-11
دولة النشر
مصر
عدد الصفحات
17
التخصصات الرئيسية
الملخص EN
This paper investigates the delay-dependent stability of a teleoperation system based on the transparent Generalized Four-Channel control (G-4C) scheme under time-varying communication delays.
To address stability we choose here a primitive result providing a Linear Matrix Inequalities (LMIs) approach based on Lyapunov-Krasovskii functionals.
Firstly, the scheme is modeled as the neutral-type differential-delayed equation; that is, the delay affects not only the state but also the state derivative.
Secondly, we apply a less conservative stability criteria based on LMIs that are delay dependent and delay's time-derivative dependent.
The reason is that, for better performance in the case of small delays, we must accept the possibility that stability is lost for large delays.
The approach is applied to an example, and its advantages are discussed.
As a result, we propose to modify the values of standard controllers in G-4C defining the μ-4C scheme, which introduces a tuning factor μ to increase in practical conditions the stable region fixing the desired bounds on time-varying delay, with the particularity of maintaining the tracking properties provided by this transparent control scheme.
The simulation results justify the proposed control architecture and confirm robust stability and performance.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Delgado Romero, Emma& Díaz-Cacho Medina, Miguel& Barreiro Blas, Antonio. 2012. Stability of Teleoperation Systems for Time-Varying Delays by Neutral LMI Techniques. Mathematical Problems in Engineering،Vol. 2012, no. 2012, pp.1-17.
https://search.emarefa.net/detail/BIM-1001618
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Delgado Romero, Emma…[et al.]. Stability of Teleoperation Systems for Time-Varying Delays by Neutral LMI Techniques. Mathematical Problems in Engineering No. 2012 (2012), pp.1-17.
https://search.emarefa.net/detail/BIM-1001618
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Delgado Romero, Emma& Díaz-Cacho Medina, Miguel& Barreiro Blas, Antonio. Stability of Teleoperation Systems for Time-Varying Delays by Neutral LMI Techniques. Mathematical Problems in Engineering. 2012. Vol. 2012, no. 2012, pp.1-17.
https://search.emarefa.net/detail/BIM-1001618
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1001618
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
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