Control schemes for stable teleoperation with communication delay based on IOS small gain theorem

DOI10.1016/J.AUTOMATICA.2006.02.020zbMath1117.93353OpenAlexW2168356175MaRDI QIDQ857126

Abdelhamid Tayebi, Ilia G. Polushin, Horacio J. Marquez

Publication date: 14 December 2006

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2006.02.020

zbMATH Keywords

input-to-state stabilitytime delay systemssmall gain theoremtelerobotics

Mathematics Subject Classification ID

Input-output approaches in control theory (93D25) Linear systems in control theory (93C05) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15) Artificial intelligence for robotics (68T40)

Related Items (18)

Estimation of stochastic environment force for master-slave robotic system ⋮ Adaptive stabilization of nonlinear teleoperation systems: An SIIOS approach ⋮ Adaptive finite-time control for nonlinear teleoperation systems with asymmetric time-varying delays ⋮ Robust saturation-based control of bilateral teleoperation without velocity measurements ⋮ Admittance parameterization in linear networked bilateral teleoperation control ⋮ Stability of nonlinear teleoperators using PD controllers without velocity measurements ⋮ Decentralized uniform finite‐time stabilization of large‐scale nonlinear networks by small‐gain theorems ⋮ The ISS framework for time-delay systems: a survey ⋮ A note on applications of a trajectory-based small-gain theorem to decentralized stabilization of switching networks with generalized dead zones ⋮ Formation control of VTOL unmanned aerial vehicles with communication delays ⋮ Unnamed Item ⋮ Input-to-State Stability of Infinite-Dimensional Systems: Recent Results and Open Questions ⋮ Transient stabilization of multimachine power systems: towards a global decentralized solution ⋮ On the delayed kinematic correspondence with variable time delays for the control of the bilateral teleoperation of robots ⋮ Passivity-based control for bilateral teleoperation: a tutorial ⋮ Position tracking in delayed bilateral teleoperators without velocity measurements ⋮ Small Gain Theorems for General Networks of Heterogeneous Infinite-Dimensional Systems ⋮ Acceleration feedback control for nonlinear teleoperation systems with time delays

Cites Work

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• On characterizations of the input-to-state stability property
• Small-gain theorem for ISS systems and applications
• Stability guaranteed teleoperation: an adaptive motion/force control approach
• Stabilization of bilaterally controlled teleoperators with communication delay: An ISS approach
• Connections between Razumikhin-type theorems and the ISS nonlinear small gain theorem
• Control schemes for teleoperation with time delay: A comparative study
• A nonlinear small gain theorem for the analysis of control systems with saturation
• New characterizations of input-to-state stability
• Notions of input to output stability

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