A novel control scheme for teleoperation with guaranteed performance under time-varying delays

Bo Zhang 1 Alexandre Kruszewski 1 Jean-Pierre Richard 1, 2, 3
1 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This work deals with the stability and synchronization of systems with time-varying delays. We propose a novel control scheme with position/velocity information channel on the basis of Lyapunov-Krasovskii functional (LKF) and H1 control theory by using Linear Matrix Inequality (LMI). The proposed solution is efficient for different working conditions, such as abrupt motion and wall contact, and this is illustrated by various simulations.
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Bo Zhang, Alexandre Kruszewski, Jean-Pierre Richard. A novel control scheme for teleoperation with guaranteed performance under time-varying delays. 23th Chinese Control and Decision Conference (CCDC), Jun 2011, Mianyang, China. ⟨hal-00602338⟩

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