Skip to main content
SpringerLink
Log in

Stability Analysis of Teleoperation Systems with Quantization

  • Chapter
  • First Online:
Analysis and Design for Networked Teleoperation System

  • 272 Accesses

Abstract

The stability problem is studied for teleoperation systems over general communication networks. Compared with previous work, both quantization and time delay issues are considered. The controller used in this chapter is in the form of proportional-derivative, and the output signals of master and slave systems are quantized before being transmitted. The stability criteria are presented to show that the controller can stabilize the master-slave system under quantization and variable time delay. Additionally, we propose a quantized measurement, which can decrease the quantization error. Finally, simulations and detailed analysis are given to show the effectiveness of the main results.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. S. Islam, P.X. Liu, Robust adaptive fuzzy output feedback control system for robot manipulators. IEEE/ASME Trans. Mechatron. 16(2), 288–296 (2011)

    Article  Google Scholar 

  2. I.G. Polushin, P.X. Liu, C.H. Lung et al., Position-error based schemes for bilateral teleoperation with time delay: theory and experiments. J. Dyn. Syst. Measurement Control 132(3), 1–11 (2010)

    Article  Google Scholar 

  3. I.G. Polushin, X.P. Liu, C.H. Lung, Stability of bilateral teleoperators with generalized projection-based force reflection algorithms. Automatica 48(6), 1005–1016 (2012)

    Article  MathSciNet  Google Scholar 

  4. H.J. Gao, T.W. Chen, A new approach to quantized feedback control systems. Automatica 44, 534–542 (2008)

    Article  MathSciNet  Google Scholar 

  5. H.J. Gao, T.W. Chen, J. Lam, A new delay system approach to network-based control. Automatica 44, 39–52 (2008)

    Article  MathSciNet  Google Scholar 

  6. H.J. Gao, T.W. Chen, H-infinity estimation for uncertain systems with limited communication capacity. IEEE Trans. Autom. Control 52(11), 2070–2084 (2007)

    Article  Google Scholar 

  7. S. Islam, P.X. Liu, A.E.I. Saddik, Bilateral teleoperation system with time varying communication delay: stability and convergence. Auton. Intell. Syst. 6752(2), 156–166 (2011)

    Article  Google Scholar 

  8. D. Lee, M.W. Spong, Passive bilateral teleoperation with constant time delay. IEEE Trans. Robot. Autom. 22(2), 269–281 (2006)

    Article  Google Scholar 

  9. E.J. Rodrigue-Seda, J.J. Troy et al., Bilateral teleoperation of multiple mobile agents: coordinated motion and collision avoidance. IEEE Trans. Control Syst. Technol. 18(4), 984–992 (2010)

    Article  Google Scholar 

  10. C.C. Hua, X.P. Liu, Teleoperation over the internet with/without velocity signal. IEEE Trans. Instrum. Measurement 60, 4–13 (2011)

    Article  MathSciNet  Google Scholar 

  11. E. Nu\(\tilde{n}\)o, R. Ortega, N. Barabanov, L. Basa\(\tilde{n}\)ez, A globally stable pd controller for bilateral teleoperators. IEEE Trans. Robot. 24(3), 753–758 (2008)

    Article  Google Scholar 

  12. E. Nu\(\tilde{n}\)o, L. Basa\(\tilde{n}\)ez, R. Ortega, M.W. Spong, Position tracking for non-linear teleoperators with variable time delay. Int. J. Robot. Res. 28(7), 895–910 (2009)

    Google Scholar 

  13. Z.J. Li, Y.Q. Xia, F.C. Sun, Adaptive fuzzy control for multilateral cooperative teleoperation of multiple robotic manipulators under random network-induced delays. IEEE Trans. Fuzzy Syst. 22(2), 437–450 (2014)

    Article  Google Scholar 

  14. C.C. Hua, X.P. Liu, Delay-dependent stability criteria of teleoperation systems with asymmetric time-varying delays. IEEE Trans. Robot. 26(5), 925–932 (2010)

    Article  Google Scholar 

  15. M.Y. Fu, L.H. Xie, The sector bound approach to quantized feedback control. IEEE Trans. Autom. Control 50, 1698–1711 (2005)

    Article  MathSciNet  Google Scholar 

  16. B. Zhou, G.R. Duan, J. Lam, On the absolute stability approach to quantized feedback control. Automatica 46, 337–346 (2010)

    Article  MathSciNet  Google Scholar 

  17. G.N. Nair, R.J. Evans, Exponential stabilizability of finite-dimensional linear systems with limited data rates. Automatica 39, 585–593 (2003)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China

    Changchun Hua & Xian Yang

  2. Yanshan University, Qinhuangdao, China

    Yana Yang

  3. Department of Automation, Shanghai Jiao Tong University, Shanghai, China

    Xinping Guan

Authors
  1. Changchun Hua
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yana Yang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Xian Yang
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Xinping Guan
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Changchun Hua .

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature Singapore Pte Ltd.

About this chapter

Check for updates. Verify currency and authenticity via CrossMark

Cite this chapter

Hua, C., Yang, Y., Yang, X., Guan, X. (2019). Stability Analysis of Teleoperation Systems with Quantization. In: Analysis and Design for Networked Teleoperation System. Springer, Singapore. https://doi.org/10.1007/978-981-13-7936-9_5

Download citation

Publish with us

Policies and ethics

Search

Navigation