Exponential stability of bilateral sampled-data teleoperation systems using multirate approach.

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  • Additional Information
    • Source:
      Publisher: Elsevier Country of Publication: United States NLM ID: 0374750 Publication Model: Print-Electronic Cited Medium: Internet ISSN: 1879-2022 (Electronic) Linking ISSN: 00190578 NLM ISO Abbreviation: ISA Trans Subsets: PubMed not MEDLINE; MEDLINE
    • Publication Information:
      Publication: Research Triangle Park, NC : Elsevier
      Original Publication: Pittsburgh, Instrument Society of America.
    • Abstract:
      This paper develops the stability analysis for linear bilateral teleoperation systems exposed to communication constraints and multirate samplers. Dynamics of the master and slave robots are assumed to be continuous-time with discrete-time controllers. The proposed multirate design guarantees the exponential stability of the teleoperation system over a communication networks. Different sampling rates are imposed on position/velocity signals in both master and slave sides and by exerting input-delay approach, the multirate dynamics is transformed into a continuous-time system. Sufficient Krasovskii-based stability criteria are provided to preserve the exponential stability of the linear discrete-time system for asynchronously sampling intervals and update rates. This analysis is formulated as a convex optimization problem in terms of linear matrix inequalities (LMI) to calculate the longest interval between two successive sampling periods. The proposed multirate approach demonstrates that selecting adequate intervals for samplers and proper update rates for actuators has a considerable effect on the stability of the system. In order to validate the stability criteria and present the efficacy of the proposed multirate scheme, pair of two degree of freedom manipulators will be investigated and maximum allowable sampling periods and update rates are computed to preserve the exponential stability for different multirate cases.
      Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.
      (Copyright © 2020 ISA. Published by Elsevier Ltd. All rights reserved.)
    • Contributed Indexing:
      Keywords: Exponential stability; Linear matrix inequality (LMI); Multirate sampling; Networked control systems; Teleoperation systems
    • Publication Date:
      Date Created: 20200605 Latest Revision: 20201019
    • Publication Date:
      20221213
    • Accession Number:
      10.1016/j.isatra.2020.05.044
    • Accession Number:
      32493577