On the closed-loop stability of a teleoperation control scheme subject to communication time-delays

Silviu-Iulian Niculescu (1) , D. Taoutaou (1) , R. Lozano (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

This paper focuses on the closed-loop stability analysis of a teleoperation control scheme subject to 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 several examples are also presented.

Mots clés: Asymptotic stability; Closed loop control systems; Communication channels (information theory); Frequency domain analysis; Lyapunov methods; Manipulators; Sensors; Telecommunication traffic; Communication time delays; Teleoperation control; System stability

Domaines: Automatique / Robotique

Silviu-Iulian Niculescu, D. Taoutaou, R. Lozano. On the closed-loop stability of a teleoperation control scheme subject to communication time-delays. 41st IEEE Conference on Decision and Control, Dec 2002, Las Vegas, NV, United States. pp.1790-1795. ⟨hal-02295729⟩