File(s) under permanent embargo
Robust H∞ cost guaranteed integral sliding mode control for the synchronization problem of nonlinear tele-operation system with variable time-delay
journal contribution
posted on 2018-01-01, 00:00 authored by Saba Tareq Salim Al-Wais, Sui Yang KhooSui Yang Khoo, T H Lee, Lakshmanan Shanmugam, Saeid NahavandiThis paper is devoted to the synchronization problem of tele-operation systems with time-varying delay, disturbances, and uncertainty. Delay-dependent sufficient conditions for the existence of integral sliding surfaces are given in the form of Linear Matrix Inequalities (LMIs). This guarantees the global stability of the tele-operation system with known upper bounds of the time-varying delays. Unlike previous work, in this paper, the controller gains are designed but not chosen, which increases the degree of freedom of the design. Moreover, Wirtinger based integral inequality and reciprocally convex combination techniques used in the constructed Lypunove-Krasoviskii Functional (LKF) are deemed to give less conservative stability condition for the system. Furthermore, to relax the analysis from any assumptions regarding the dynamics of the environment and human operator forces, H∞ design method is used to involve the dynamics of these forces and ensure the stability of the system against these admissible forces in the H∞ sense. This design scheme combines the strong robustness of the sliding mode control with the H∞ design method for tele-operation systems which is coupled using state feedback controllers and inherit variable time-delays in their communication channels. Simulation examples are given to show the effectiveness of the proposed method.
History
Journal
ISA transactionsVolume
72Pagination
25 - 36Publisher
ElsevierLocation
Amsterdam, The NetherlandsPublisher DOI
ISSN
0019-0578eISSN
1879-2022Language
engPublication classification
C Journal article; C1 Refereed article in a scholarly journalCopyright notice
2017, ISAUsage metrics
Categories
No categories selectedKeywords
Tele-operationNonlinear dynamicsTime varying-delaySliding mode controlDelay-dependent stabilityLMIIntegral sliding mode controlH∞Science & TechnologyTechnologyAutomation & Control SystemsEngineering, MultidisciplinaryInstruments & InstrumentationEngineeringH infinityDEPENDENT STABILITY-CRITERIABILATERAL TELEOPERATIONVARYING DELAYCOORDINATION CONTROLCONTROL DESIGNTELEMANIPULATION
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC