Stability Analysis Of Time Delay Systems And Design Of Teleoperation

Time delay phenomenon widely exists in the actual control systems. Time delaywill not only reduce the control performance of the systems, and sometimes evenlead to system instability, causing the system out of control. Stability analysis oftime-delay systems has attracted a wide range of research. At the same time, ateleoperation system which connects a master manipulator and a slave manipulatorby network can make human operator interact with the remote environment wherehuman operator is difficult to access or is dangerous for human being, so theteleoperation system has a very broad application in space and deep sea explorationand other fields.For the problem of time-delay systems stability analysis, this paper proposes anew method for stability analysis based on integral quadratic constraint (IQC). Due tothe introduction of the integral quadratic constraint, time-delay systems dispense withthe need for frequency sweeping when dealing with frequency piecewise type rationalmultiplier. Using Generalized Kalman-Yakubovich-Popov (GKYP) lemmas, each ofthese frequency interval IQC conditions are equivalent to a frequency independentlinear matrix inequality conditions.Due to the application of Jensen inequality, the method which proves stabilitythrough the Lyapunov function will inevitably lead to conservative. In order to reducethe conservativeness, the Wirtinger based on the integral inequality is proposed. Thisarticle will propose a new proof method, and this method is more general. In addition,this paper will apply the Wirtinger based on the integral inequality for the stabilityanalysis of time-delay systems.Through the analysis, the stability analysis, whichapply Wirtinger based on the integral inequality can significantly reduce theconservative. There are still a lot of problems to be solved in the application of teleoperator, forexample delay problems in teleoperation systems. The transmission of wavevariables can solve the instability problem from signals communication betweenmaster and slave manipulators, and ensure the passivity of bilateral teleoperationsystem, but the wave refection will affect system performance. So, this paperpresents a novel teleoperation structure which can reduce the wave reflection and thepassive analysis of the new structure is made to make sure the stability of the novelteleoperation structure. The simulation results show that the new structure not onlyreduces the wave refection, but also obtains better performance of position and forcetracking between master-side and salve–side.In the actual operation, a task oftenneeds many operators. According to this problem, this paper proposes a multilateralteleoperation structure. The passive of the new multilateral teleoperation structure ismade to guarantee the stability of this structure.