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Exponential stability of bilateral sampled-data teleoperation systems using multirate approach.

Amir A Ghavifekr1, Amir R Ghiasi1, Mohammad Ali Badamchizadeh1

  • 1Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran.

ISA Transactions
|June 5, 2020
PubMed
Summary

This study ensures stable teleoperation systems using multirate sampling, crucial for reliable remote control over networks. Proper sampler intervals and update rates are key to maintaining system stability.

Keywords:
Exponential stabilityLinear matrix inequality (LMI)Multirate samplingNetworked control systemsTeleoperation systems

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Networked Systems

Background:

  • Bilateral teleoperation systems face challenges with communication constraints and multirate samplers.
  • Master and slave robot dynamics are continuous-time, while controllers are discrete-time.

Purpose of the Study:

  • To develop a stability analysis for linear bilateral teleoperation systems under communication constraints and multirate sampling.
  • To guarantee exponential stability for teleoperation systems operating over communication networks with varying sampling rates.

Main Methods:

  • Utilized an input-delay approach to transform multirate dynamics into a continuous-time system.
  • Derived sufficient Krasovskii-based stability criteria for linear discrete-time systems with asynchronous sampling.
  • Formulated the stability analysis as a convex optimization problem using linear matrix inequalities (LMIs).

Main Results:

  • The proposed multirate design guarantees exponential stability for the teleoperation system.
  • Identified that adequate sampler intervals and actuator update rates significantly impact system stability.
  • Calculated the longest allowable sampling periods and update rates to maintain exponential stability.

Conclusions:

  • The multirate approach effectively ensures the stability of linear bilateral teleoperation systems.
  • Selecting appropriate sampling and update rates is critical for robust teleoperation performance.
  • Validated the stability criteria and efficacy of the multirate scheme using a two-degree-of-freedom manipulator system.