Robust stability of teleoperation schemes subject to constant and time-varying communication delays

D. Taoutaou (1) , Silviu-Iulian Niculescu (1) , Keqin Gu (2)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
2 SIUE - Southern Illinois University [Edwardsville]

This paper addresses the robust stability of some bilateral teleoperation control scheme subject to various constant and/or time-varying delays in the communication channel. The stability conditions are derived using frequency-domain techniques. More specifically, in the case of constant delays, the stability regions of the systems' parameters are completely characterized. Next, the analysis is extended to the case of time-varying uncertain delay, and we derive sufficient (closed-loop) stability conditions.

Mots clés: Communication delays; Control laws; Teleoperation systems; Asymptotic stability; Closed loop control systems; Frequency domain analysis; Industrial engineering; Integral equations; Mathematical transformations; Robustness (control systems); Signal processing; Torque; Uncertain systems; System stability

Domaines: Automatique / Robotique

D. Taoutaou, Silviu-Iulian Niculescu, Keqin Gu. Robust stability of teleoperation schemes subject to constant and time-varying communication delays. 42nd IEEE Conference on Decision and Control, Dec 2003, Maui, United States. pp.5579-5584, ⟨10.1109/CDC.2003.1271890⟩. ⟨hal-02294772⟩