TY - GEN
T1 - Delay-independent stabilization for teleoperation with time varying delay
AU - Fujita, Hiroyuki
AU - Namerikawa, Toru
PY - 2009
Y1 - 2009
N2 - This paper deals with the stability for nonlinear teleoperation with time varying communication delays. The proposed method is passivity-based controllers with time varying gains which depend on the rate of change of time varying delay. In our proposed method, stability condition is independent of the magnitude of the communication delay and the damping of the system. The delay-independent stability is shown via Lyapunov stability methods. Several experimental results show the effectiveness of our proposed teleoperation.
AB - This paper deals with the stability for nonlinear teleoperation with time varying communication delays. The proposed method is passivity-based controllers with time varying gains which depend on the rate of change of time varying delay. In our proposed method, stability condition is independent of the magnitude of the communication delay and the damping of the system. The delay-independent stability is shown via Lyapunov stability methods. Several experimental results show the effectiveness of our proposed teleoperation.
UR - http://www.scopus.com/inward/record.url?scp=70449637947&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70449637947&partnerID=8YFLogxK
U2 - 10.1109/ACC.2009.5160124
DO - 10.1109/ACC.2009.5160124
M3 - Conference contribution
AN - SCOPUS:70449637947
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 5459
EP - 5464
BT - 2009 American Control Conference, ACC 2009
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -