TY - GEN
T1 - Robust control of holonomic constrained robotic manipulators with stochastic time delays
AU - Li, Zhijun
AU - Kang, Yu
AU - Cao, Xiaoqing
AU - Zhai, Dihua
PY - 2012
Y1 - 2012
N2 - In this paper, robust networked control is investigated for remote motion/force control of robotic manipulators with random time delays. Both sensor-to-controller and controller-to-actuator random network-induced delays are considered in the remote networked control. These random-network-induced delays are modeled as Markov processes. Based on the stochastic Lyapunov method, sufficient conditions for the boundedness in probability of the system solutions are given. It is proven that all the signals of the the robotic manipulator system are bounded in probability. Finally, the extensive experiments are performed to show the effectiveness of the proposed method.
AB - In this paper, robust networked control is investigated for remote motion/force control of robotic manipulators with random time delays. Both sensor-to-controller and controller-to-actuator random network-induced delays are considered in the remote networked control. These random-network-induced delays are modeled as Markov processes. Based on the stochastic Lyapunov method, sufficient conditions for the boundedness in probability of the system solutions are given. It is proven that all the signals of the the robotic manipulator system are bounded in probability. Finally, the extensive experiments are performed to show the effectiveness of the proposed method.
KW - Robotic Manipulators
KW - Robust Control
KW - Stochastic Time Delays
UR - https://www.scopus.com/pages/publications/84873542691
M3 - Conference contribution
AN - SCOPUS:84873542691
SN - 9789881563811
T3 - Chinese Control Conference, CCC
SP - 2786
EP - 2791
BT - Proceedings of the 31st Chinese Control Conference, CCC 2012
T2 - 31st Chinese Control Conference, CCC 2012
Y2 - 25 July 2012 through 27 July 2012
ER -