@inproceedings{e121d994a75b40339548089e9d3050ad,
title = "Robust controller design for teleoperation systems with time-varying delays",
abstract = "This paper presents an LMI approach to design a robust controller for teleoperation systems with unsymmetric time-varying delays. The position error feedback control scheme is considered for the master and slave manipulators. The overall systems is modelled as differential equations with multiple time delays. By using Lyapunov functional, we give the sufficient stability condition dependent on the derivative of the timevarying delays in terms of LMI. Moreover, the controller gain design procedure is derived based on the Projection Theorem. A simulation example is given to show the proposed results.",
keywords = "Biliteral teleoperation, Position coordination, Tracking error, Unsymmetric time-varying delay",
author = "Yan Wang and Sun, \{Zeng Qi\} and Chou, \{Wu Sheng\}",
year = "2010",
doi = "10.1109/ICMTMA.2010.779",
language = "英语",
isbn = "9780769539621",
series = "2010 International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2010",
pages = "266--269",
booktitle = "2010 International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2010",
note = "International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2010 ; Conference date: 13-03-2010 Through 14-03-2010",
}