Stability Condition for Teleoperation System with Packet Loss

Hong, A; Cho, JH; Lee, DY

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Stability Condition for Teleoperation System with Packet Loss

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Hong, A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02041720
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Citation

Hong, A., Cho, J., & Lee, D. (2011). Stability Condition for Teleoperation System with Packet Loss. In 2011 KSME Annual Fall Conference (pp. 760-761).

Cite as: https://hdl.handle.net/11858/00-001M-0000-0013-B928-2

Abstract

This paper focuses on the stability condition of teleoperation system where there is a packet loss in communication channel. Communication channel between master and slave cause packet loss and it obviously leads to a performance degradation and instability of teleoperation system. We consider two-channel control architecture for teleoperation system, and control inputs to remote site are produced by position of master and slave. In this paper, teleoperation system is modeled in discrete domain to include packet loss process. Also, the stability condition for teleoperation system with packet loss is discussed with input-to-state stability. Finally, the stability condition is presented in LMI approach.