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Control for motion synchronization of bilateral teleoperation systems with mode-dependent time-varying communication delays

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4 Author(s)
Zhijun Li ; Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China ; Yu Kang ; Weike Shang ; Lei Dai

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 stochastic time-varying. By feedback linearization, the nonlinear dynamics of the tele-operation system is transformed into two linear sub-systems: local master/slave position control and delayed motion synchronization. We propose new control strategies based on linear matrix inequalities (LMI) and Markov jump linear systems, which guarantees ultimate boundedness of the master/slave trajectories. By choosing Lyapunov Krasovskii functional, we show that the master-slave tele-operation system is asymptotically stable under specific LMI conditions. Finally, the simulations are performed to show the effectiveness of the proposed method.

Published in:

Intelligent Control and Automation (WCICA), 2010 8th World Congress on

Date of Conference:

7-9 July 2010