TY - GEN
T1 - Bilateral teleoperation of force/motion for a robotic manipulator with random delays
AU - Kang, Yu
AU - Li, Zhijun
AU - Zhai, Dihua
AU - Cao, Xiaoqing
PY - 2012
Y1 - 2012
N2 - In this paper, bilateral teleoperation control is proposed for holonomic constrained robotic manipulators with stochastic time-varying delays in communication channels. A unified control model is introduced for representing well-known holonomic systems with an environmental constraint. By integrating Markov jump systems, the motion/force tracking control strategy is developed. Furthermore, a feasible solution for the derived linear matrix inequality guarantees the attenuation of unsymmetrical stochastic delay in an propobalty sense. Finally, the proposed control are validated by extensive simulation and experimental studies.
AB - In this paper, bilateral teleoperation control is proposed for holonomic constrained robotic manipulators with stochastic time-varying delays in communication channels. A unified control model is introduced for representing well-known holonomic systems with an environmental constraint. By integrating Markov jump systems, the motion/force tracking control strategy is developed. Furthermore, a feasible solution for the derived linear matrix inequality guarantees the attenuation of unsymmetrical stochastic delay in an propobalty sense. Finally, the proposed control are validated by extensive simulation and experimental studies.
UR - http://www.scopus.com/inward/record.url?scp=84872285809&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2012.6359126
DO - 10.1109/WCICA.2012.6359126
M3 - Conference contribution
AN - SCOPUS:84872285809
SN - 9781467313988
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 3915
EP - 3920
BT - WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
T2 - 10th World Congress on Intelligent Control and Automation, WCICA 2012
Y2 - 6 July 2012 through 8 July 2012
ER -