Delay-independent robust stability analysis of teleoperation

Azadegan, Masoumeh; Ozgoli, Sadjaad; Taghirad, Hamid D.

doi:10.1109/ccdc.2011.5968949

Cited by 8 publications

(2 citation statements)

References 19 publications

(5 reference statements)

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“…The number of the needed sensors is reduced by applying a pseudo-sensorless approach which also decreased the uncertainties affecting the BTS. A PD controller is proposed for specific delayed BTSs using the linear matrix inequalities (LMI) technique [92]. The BTS has been stabilized regardless of the occurrences of delays in the communication channel.…”

Section: Remarkmentioning

confidence: 99%

Control of teleoperation systems in the presence of cyber attacks: A survey

Hamdan

Mahmoud

2021

IJRA

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<p>The teleoperation system is often composed of a human operator, a local master manipulator, and a remote slave manipulator that are connected by a communication network. This paper proposes a survey on feedback control design for the bilateral teleoperation systems (BTSs) in nominal situations and in the presence of cyber-attacks. The main idea of the presented methods is to achieve the stability of a delayed bilateral teleoperation system in the presence of several kinds of cyber attacks. In this paper, a comprehensive survey on control systems for BTSs under cyber-attacks is discussed. Finally, we discuss the current and future problems in this field.</p>

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Section: Remarkmentioning

confidence: 99%

Control of teleoperation systems in the presence of cyber attacks: A survey

Hamdan

Mahmoud

2021

IJRA

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“…The breakthrough was achieved in [1] where the concepts from scattering theory, passivity and network theory were used to derive a control law which guaranteed stability [2,3,7,8,16,14,15]. The robust stability criteria for teleoperation system with time-delay can be found in [4]. All of them are delay-independent analysis methods.…”

Section: Introductionmentioning

confidence: 99%

Robust stability analysis of teleoperation by delay-dependent neutral LMI techniques

Haoussi¹,

Tissir²,

Satori³

et al. 2014

ams

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This paper studies the robust stability of teleoperation systems based on the 2-channel force-force (FF) control architecture, modelled by frequency domain or passivity techniques. More precisely, delay-dependent conditions are given as LMIs derived from Lyapunov-Krasovskii functionals. We show that the teleoperation systems are stable under specific LMI conditions. This stability is guaranteed in the presence of admissible uncertainty and neutral-type differential-delayed equations, that is, with time-varying delays in the states and their derivative. To evaluate the theoretical analysis, some numerical simulations are presented.

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