Four-Channel Teleoperation with Time-Varying Delays and Disturbance Observers

Emma Delgado, Pablo Falcón, Miguel Díaz-Cacho and Antonio Barreiro

Mathematical Problems in Engineering, 2015, vol. 2015, 1-11

Abstract:

This paper addresses the robust stability of teleoperated systems under the four-channel architecture, affected by time-varying communication delays and using disturbance observers. It is based on our previous work which provides a framework for robust stability against delays with bounded variation and a bounded time-derivative, using structured singular values (SSV). The main new feature here is the inclusion of disturbance observers (DOBs). The DOB concept is well-documented and relevant to many applications, since only position (but not force) measurements are usually available. In this paper, we adapt two DOBs (master and slave) to our generic framework, by representing them as stable, fast filters affected by the uncertainty in the plant modelling. Our main result is an SSV test to verify robust stability. The simulation results confirm the usefulness of this approach.

Date: 2015
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2015/574874.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2015/574874.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:574874

DOI: 10.1155/2015/574874

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().