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Dynamic analysis for a teleoperation system with time delay

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5 Author(s)
Azorin, J.M. ; Dept. de Ingenieria de Sistemas Industriales, Miguel Hernandez Univ., Alicante, Spain ; Reinoso, O. ; Sabater, J.M. ; Neco, R.P.
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In this paper, the dynamic analysis for a teleoperation system with time delay is presented. The teleoperation system is controlled using a new design method through state convergence. This control method allows establishing the dynamics of the slave and the master-slave error. To perform the dynamic analysis, the influence of the slave and the error poles location in the dynamic behavior of the teleoperation system is studied. Also the robustness of the method control against slightly variations in the design parameters is analyzed.

Published in:

Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on  (Volume:2 )

Date of Conference:

23-25 June 2003