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

Abstract

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.

Delay Dependent Anti-windup Synthesis for Time-varying Delay Systems with Saturating Actuators

“…The simultaneous presence of delays and control saturations are the cause of performance degradation and eventual instability. Many methods have been proposed to address the stability of linear time-delay systems [4,8,7,15], including the stabilization with saturating actuators [10,1,5,12]. This paper concentrates on anti-windup methodologies to stabilize time-delay systems in the presence of control constraints: in this context we can just cite [2,14,13].…”