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Bilateral teleoperation with communication delays
Author(s) -
Niculescu SilviuIulian,
Taoutaou Damia,
Lozano Rogelio
Publication year - 2003
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.851
Subject(s) - teleoperation , stability (learning theory) , novelty , simplicity , simple (philosophy) , control theory (sociology) , computer science , channel (broadcasting) , domain (mathematical analysis) , scheme (mathematics) , frequency domain , control (management) , mathematics , telecommunications , artificial intelligence , psychology , social psychology , philosophy , mathematical analysis , epistemology , machine learning , computer vision
This paper focuses on the closed‐loop stability analysis of a teleoperation control scheme subject to time‐delays in the communication channel. The stability conditions derived using a frequency‐domain approach are analytical and easy to check. Delay‐independent as well as various delay‐intervals stability cases are treated. The novelty of the approach lies in its simplicity for characterizing the stability regions in terms of the systems' parameters. Physical interpretations are included, and a simple example is presented. Copyright © 2003 John Wiley & Sons, Ltd.