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An LMI Approach to Guaranteed Cost Control Design for Teleoperation Systems
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-10-25
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
A procedure for the guaranteed cost control design of delayed bilateral teleoperation systems with nonlinear external forces is proposed.
The assumption that the external forces are nonlinear functions of velocities and/or positions of local devices and that one part of these forces satisfies sector condition has been made.
A stability criterion is formulated firstly and then the optimal guaranteed cost controller is obtained by solving the equivalent convex optimization problem in the form of linear matrix inequalities (LMIs).
The controller preserves closed-loop stability regardless of the delay length.
The behavior of the resulting teleoperation system is illustrated in simulations.
American Psychological Association (APA)
Li, Yuling& Yin, Yi-Xin. 2015. An LMI Approach to Guaranteed Cost Control Design for Teleoperation Systems. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1074351
Modern Language Association (MLA)
Li, Yuling& Yin, Yi-Xin. An LMI Approach to Guaranteed Cost Control Design for Teleoperation Systems. Mathematical Problems in Engineering No. 2015 (2015), pp.1-9.
https://search.emarefa.net/detail/BIM-1074351
American Medical Association (AMA)
Li, Yuling& Yin, Yi-Xin. An LMI Approach to Guaranteed Cost Control Design for Teleoperation Systems. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1074351
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074351