Abstract
In this paper, motion synchronization control of bilateral tele-operation system is investigated. Compared with previous passivity framework, the communication delays are assumed to be time-varying. By feedback linearization, the nonlinear dynamics of the tele-operation system is transformed into two sub-systems: local master/slave position control and delayed motion synchronization. We propose new control strategies based on linear matrix inequalities (LMI) and adaptive parameters show that the master-slave tele-operation system is stable under specific LMI conditions. Finally, the simulations are performed to show the effectiveness of the proposed method.
This work is supported by National Natural Science Foundation of China (60804003 and 60935001), Shanghai Pujiang Program under grant No. 08PJ1407000.
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Cao, X., Li, Z. (2010). Adaptive Motion Synchronization of Bilateral Teleoperation Systems with Time-Varying Communication Delays. In: Ge, S.S., Li, H., Cabibihan, JJ., Tan, Y.K. (eds) Social Robotics. ICSR 2010. Lecture Notes in Computer Science(), vol 6414. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17248-9_22
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DOI: https://doi.org/10.1007/978-3-642-17248-9_22
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