Stability Analysis Of Networked Teleoperation Systems With Timed Delay

In recent years,teleoperation systems have been increasingly used in life and work because they can extend human touch.At the same time,it can be seen from the composition of the teleoperation system that the information transmission channel of the system is the Internet.However,time delay is an inevitable result of all the information in the system being transmitted through the Internet.Research shows,even a small time delay can lead to instability or a sharp reduction in system performance.From the point of view of control,the stability of the system is the basis of other performance of the system.Therefore,it is of practical significance to study the stability of networked teleoperation systems with time delays.The research work of this paper has the following aspects:Firstly,the stability of teleoperation system with time-varying delay is studied.Considering that the communication delay is time-varying and asymmetric,three different controllers are designed,such as force feedback controller,position error controller and position error speed controller.A new Lyapunov-Functional is constructed for the teleoperation control system under these three different controllers.When the inequality method deals with its derivatives,the delay information is effectively used.Finally a new criterion for the stability of the teleoperation system in the form of a linear matrix inequality is obtained.Secondly,the stability of the teleoperation system with gravity-adaptive time-varying delay is further studied.Considering the delay as an asymmetric time-varying delay,an adaptive law and a position error velocity controller with gravity estimation term are designed.On this basis,a suitable Lyapunov functional is constructed and the integration inequality method is used to relax the conservativeness of the teleoperation system.Finally,a new stability criterion for the teleoperation system with gravity adaptation in the form of linear matrix inequality is analyzed and obtained.Finally,the stability theorem proposed in this paper is verified by simulation,and the stability of the teleoperation system is analyzed through the simulation chart.The comparison of simulation results shows that the stability criterion proposed in this paper is effective.