Research On Stability Analysis Of Tele-Robotic Systems

Comparing with the development of space technology and sea exploration, tele-robotics technology has been widely used, and the research about tele-robotics systems has gained more attention from the researchers all over the world. By the aid of information transmission network, tele-robotic systems have extended their working space and realized tele-operation. Meanwhile, several tele-operation systems have been used in many areas, such as tele-supervisal and tele-operation, tele-medicine systems and other potential applications. In this dissertation, the stability analysis of tele-robotic systems has been researched, and the main works are as follows:Firstly, the modelling methods of tele-operation systems have been studied, and the model of linear systems with time-delay is chosen out and researched in the later work. Then several networks and their characteristics have been introduced, which are widely used in tele-operation systems. Based on Internet, the time-delay analyses of network transmission have been discussed. The results assure that the hypotheses about time-delay in Chapter 5 are correct.Secondly, Based on Lyapunov-Razumikhin theory and Lyapunov-Krasovskii theorem, the Lyapunov stability of tele-operation systems has been addressed. The time independent and time dependent theorem for asymptotical stability of linear systems with time delay have been obtained. As long as the transporting time-delay of the network is less than the maximum allowable interval obtained by the time dependent theorem for asymptotical stability, the tele-operation systems are Lyapunov stable.Then, Based on the study presented above, the Lyapunov stability of tele-operation systems with parameter uncertainty has been researched and the time independent and time dependent theorem for asymptotical stability have been given. Two examples are presented to illustrate that the new methods are more effective than the present methods and the delay bounds obtained in this paper are of less conservative.In the end, the experiment platform of tele-robotic system has been designed using the TrueTime Toolbox of Matlab. And according to the simulation experiment of the tele-robotic system, the stability theorem mentioned in the anterior chapters and the practicability of the experiment platform have been verified.The examples presented in each chapter are shown that the delay-dependent theorem for linear systems with time-delay theorem given in this dissertation is more effective than the present methods and the delay bounds obtained in this paper are of less conservative.