Bilateral Control System of Nonlinear Master-Slave Arms with Time-Varying Delay Considering Contact with Obstacles
نویسندگان
چکیده
منابع مشابه
Finite time stabilization of time-delay nonlinear systems with uncertainty and time-varying delay
In this paper, the problem of finite-time stability and finite-time stabilization for a specific class of dynamical systems with nonlinear functions in the presence time-varying delay and norm-bounded uncertainty terms is investigated. Nonlinear functions are considered to satisfy the Lipchitz conditions. At first, sufficient conditions to guarantee the finite-time stability for time-delay nonl...
متن کاملBilateral Control System Using Nonlinear Flexible Slave Arm with Network Delay
This research focuses on stability analysis of a bilateral control system using a nonlinear single-link flexible slave arm with constant communication network delay. In our study, a rigid master arm and a single-link flexible slave arm comprise a bilateral control system where control is performed over a communication network with constant delay. A flexible arm was modeled by a linearized syste...
متن کاملFurther Results on Master-Slave Synchronization of General Lur'e Systems with Time-Varying Delay
In this paper, a new approach to analyze the asymptotic, exponential and robust stability of the master-slave synchronization for Lur’e systems using time-varying delay feedback control is proposed. The discussion is motivated by the problem of transmitting information in optical communication systems using chaotic lasers. The approach is based on the Lyapunov–Krasovskii stability theory for fu...
متن کاملMaster-Slave Synchronization of Lur'e Systems with Time-Delay
In this paper time-delay effects on the master–slave synchronization scheme are investigated. Sufficient conditions for master–slave synchronization of Lur’e systems are presented for a known time-delay in the master and slave systems. A delay-dependent synchronization criterion is given based upon a new Lyapunov–Krasovskii function. The derived criterion is a sufficient condition for global as...
متن کاملADAPTIVE FUZZY OUTPUT FEEDBACK TRACKING CONTROL FOR A CLASS OF NONLINEAR TIME-VARYING DELAY SYSTEMS WITH UNKNOWN BACKLASH-LIKE HYSTERESIS
This paper considers the problem of adaptive output feedback tracking control for a class of nonstrict-feedback nonlinear systems with unknown time-varying delays and unknown backlash-like hysteresis. Fuzzy logic systems are used to estimate the unknown nonlinear functions. Based on the Lyapunov–Krasovskii method, the control scheme is constructed by using the backstepping and adaptive techniqu...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Transactions of the Institute of Systems, Control and Information Engineers
سال: 2017
ISSN: 1342-5668,2185-811X
DOI: 10.5687/iscie.30.480