Bilateral teleoperation with communication delays

International Journal of Robust and Nonlinear Control

Volumn 13, Issue 9, 2003, Pages 873-883

  Niculescu, Silviu Iulian ^a   Taoutaou, Damia ^a   Lozano, Rogelio ^a  

^a UNIVERSITÉ DE TECHNOLOGIE DE COMPIÈGNE   (France)

Author keywords

Frequency sweeping; Stability; Teleoperation; Time delay

Indexed keywords

COMMUNICATION CHANNELS (INFORMATION THEORY); FREQUENCY DOMAIN ANALYSIS; STABILITY;

TELEOPERATION CONTROL SCHEME;

CLOSED LOOP CONTROL SYSTEMS;

EID: 0041807577     PISSN: 10498923     EISSN: None     Source Type: Journal    
DOI: 10.1002/rnc.851     Document Type: Article

References (13)

1. Kolmanovskii VB, Myshkis AD. Applied Theory of functional differential equations. Kluwer: Dordrecht, The Netherlands, 1992.
2. Niculescu S-I. Delay effects on stability. A robust control approach, vol. 269. Springer: Heidelberg, 2001.
3. Andersen RJ, Spong MW. Bilateral control of teleoperators with time delay. IEEE Transactions on Automatic Control 1989; AC-34:494-501.
4. Niemeyer G, Slotine J-JE. Stable adaptive teleoperation. IEEE Journal on Oceanic Engineering 1991; 16:152-162.
5. Niemeyer G, Slotine, J-JE. Designing force reflecting teleoperators with large time delays to appear as virtual tools. In Proceedings of the 1997 IEEE ICRA, Albuquerque, NM, 1997; 2212-2218.
6. Eusebi A, Melchiori C. Force reflecting telemanipulators with time-delay: stability analysis and control design. IEEE Transactions on Robotics and Automation 1998; 14:635-640.
7. Anderson RJ, Spong MW. Asymptotic stability for force reflecting teleoperators with large time delays to appear as virtual tools. Proceedings of IEEE International Conference on Robotics and Automation (ICRA'89), Scottsdale, AZ, 1989:1618-1625.
8. El'sgol'ts LE, Norkin SB. Introduction to the theory and applications of differential equations with deviating arguments. In Mathematics in Science and Engineering, vol. 105. Academic Press: New York, 1973.
9. Chen J, Latchman HA. Frequency sweeping tests for stability independent of delay. IEEE Transactions on Automatic Control 1995; 40:1640-1645.
10. Cooke KL, van den Driessche P. On zeroes of some transcendental equations. Funkcialaj Ekvacioj 1986; 29:77-90.
11. Niculescu S-I, Annaswamy AM, Hathout JP, Ghoniem AF. Control of time-delay induced instabilities in combustion systems. In Proceedings of the 1st IFAC Symposium on Systems, Structure and Control, Prague, Czech Republic, 2001.
12. Niculescu S-I, Abdallah CT. Delay effects on static output feedback stabilization. In Proceedings of the 39th IEEE Conference on Decision Control, Sydney, Australia, December 2000.
13. Niculescu S-I, Taoutaou D, Lozano R. On the closed-loop stability of some teleoperation control scheme subject to communication time-delays. Internal Note HeuDiaSyC'02 (full version of the paper).