NDLI: State convergence theory applied to a nonlinear and delayed telerobotic system

Content Provider	Springer Nature Link
Author	Tafur, Julio C. García, Cecilia Aracil, Rafael Saltaren, Roque
Copyright Year	2014
Abstract	State convergence is a control strategy that was proposed in the early 2000s to ensure stability and transparency in a teleoperation system under specific control gains values. This control strategy has been implemented for a linear system with or without time delay. This paper represents the first attempt at demonstrating, theoretically and experimentally, that this control strategy can also be applied to a nonlinear teleoperation system with $$n$$ degrees of freedom and delay in the communication channel. It is assumed that the human operator applies a constant force on the local manipulator during the teleoperation. In addition, the interaction between the remote manipulator and the environment is considered passive. Communication between the local and remote sites is made by means of a communication channel with variable time delay. In this article the theory of Lyapunov–Krasovskii was used to demonstrate that the local–remote teleoperation system is asymptotically stable.
Starting Page	193
Ending Page	210
Page Count	18
File Format	PDF
ISSN	00220833
Journal	Journal of Engineering Mathematics
Volume Number	91
Issue Number	1
e-ISSN	15732703
Language	English
Publisher	Springer Netherlands
Publisher Date	2014-12-30
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Lyapunov–Krasovskii Nonlinear control Stability Telerobotic Time delay Mechanics Applications of Mathematics Analysis Mathematical Modeling and Industrial Mathematics
Content Type	Text
Resource Type	Article
Subject	Mathematics Engineering

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