Research On Sampled-data Control For Bilateral Teleoperation System

The bilateral teleoperation system is a very comprehensive subject that including computer technology,network communication technology and control theory.Since limited the network bandwidth and transmission rate in real life,it is difficult to perform synchronous transmission of information,so introduced the sampled-data control to study bilateral teleoperation system.Owing to the above situations,so based on passive control theory and the operator's active situation,considers sampled-data control of the bilateral teleoperation system,at present,the stability analysis of the system is according to the discrete-time information.By constructing a Lyapunov-Krasovskii functionals combining with the methods of free weighting matrix and convex optimization giving stability criteria of bilateral teleoperation system and design criteria of controller.The specific content is as follows:1)Researched and explored the sampled-data control of bilateral teleoperation system based on passive control theory.The scheme analyzed the problem of time delay,then maked full use of relevant information including sampling time and the function characteristics of the nonlinear system,constructed the piecewise Lyapunov functional,analyzed the stability of the system by the method of linear matrix inequality(LMIs).Finally,through simulation experiment to prove the effectiveness of the scheme.2)Researched and explored the sampled-data control in bilateral teleoperation system with active operator.Based on the related literatures,considered the sampled-data control of system is carried out under the condition that the operator is active.Firstly,constructed the appropriate Lyapunov-Krasovskii functional,then derivation by Schur complement theorem and Jensen inequality,analyzed the stability of the sampled-data control system and uesd LMIs method to solve the problem.Finally,through simulation experiment to prove the proposed scheme.Figure 21;Reference 52...