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Four-Channel Teleoperation with Time-Varying Delays and Disturbance Observers
Joint Authors
Delgado Romero, Emma
Falcón, Pablo
Díaz-Cacho Medina, Miguel
Barreiro Blas, Antonio
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-08-12
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
This paper addresses the robust stability of teleoperated systems under the four-channel architecture, affected by time-varying communication delays and using disturbance observers.
It is based on our previous work which provides a framework for robust stability against delays with bounded variation and a bounded time-derivative, using structured singular values (SSV).
The main new feature here is the inclusion of disturbance observers (DOBs).
The DOB concept is well-documented and relevant to many applications, since only position (but not force) measurements are usually available.
In this paper, we adapt two DOBs (master and slave) to our generic framework, by representing them as stable, fast filters affected by the uncertainty in the plant modelling.
Our main result is an SSV test to verify robust stability.
The simulation results confirm the usefulness of this approach.
American Psychological Association (APA)
Delgado Romero, Emma& Falcón, Pablo& Díaz-Cacho Medina, Miguel& Barreiro Blas, Antonio. 2015. Four-Channel Teleoperation with Time-Varying Delays and Disturbance Observers. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1074176
Modern Language Association (MLA)
Delgado Romero, Emma…[et al.]. Four-Channel Teleoperation with Time-Varying Delays and Disturbance Observers. Mathematical Problems in Engineering No. 2015 (2015), pp.1-11.
https://search.emarefa.net/detail/BIM-1074176
American Medical Association (AMA)
Delgado Romero, Emma& Falcón, Pablo& Díaz-Cacho Medina, Miguel& Barreiro Blas, Antonio. Four-Channel Teleoperation with Time-Varying Delays and Disturbance Observers. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1074176
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074176