EXPONENTIAL STABILITY ANALYSIS OF DISCRETE LINEAR TELEOPERATION SYSTEMS WITH NONUNIFORM SAMPLING

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

AMINZADEH GHAVIFEKR A.; RIKHTEGHAR GHIASI A.; BADAMCHIZADEH M.A.; HASHEMZADEH F.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: NASHRIYYAH -I MUHANDISI -I BARQ VA MUHANDISI -I KAMPYUTAR -I IRAN, A- MUHANDISI -I BARQ Year:2017 | Volume:15 | Issue:3 Page(s): 185-193

Download Full-Text

Persian Verion

View:

3,584

Download:

Cites:

Information Journal Paper

Title

EXPONENTIAL STABILITY ANALYSIS OF DISCRETE LINEAR TELEOPERATION SYSTEMS WITH NONUNIFORM SAMPLING

Author(s)

AMINZADEH GHAVIFEKR A. | RIKHTEGHAR GHIASI A. | BADAMCHIZADEH M.A. | HASHEMZADEH F. | Issue Writer Certificate

Keywords

TELEOPERATION SYSTEMSQ2

SLAVE AND MASTER ROBOTSQ1

NCSQ1

STABILITYQ2

NONUNIFORM SAMPLINGQ2

LMIQ1

Abstract

Teleoperation systems have attracted more attention in processes that human operator’s availability is difficult. In this paper, using retarded functions, teleoperation systems have been modeled as a special case of Network Control Systems (NCS) with nonuniform sampling and network delays. It is assumed that slave and master robots are linear and continues-time systems and input-delay approach is used for the stability analysis. Using the proposed Lyapunov function, the sufficient conditions for the stability of discrete network-based teleoperation system is proposed. It will be represented that the proposed conditions are less conservative than previous recent researches. Also an upper bound of sampling time for discrete control signals is computed in a manner that does not disturb the stability conditions. To meet this condition the problem is defined as the convex optimization program and is represented by the LMI terms. In the simulation part, the behavior of the teleoperation system under the nonuniform sampling is represented and the effect of sampling time on the trade-off between the stability and transparency has been studied.

Multimedia

No record.

Cites

No record.

References

Cite

APA: Copy

AMINZADEH GHAVIFEKR, A., RIKHTEGHAR GHIASI, A., BADAMCHIZADEH, M.A., & HASHEMZADEH, F.. (2017). EXPONENTIAL STABILITY ANALYSIS OF DISCRETE LINEAR TELEOPERATION SYSTEMS WITH NONUNIFORM SAMPLING. NASHRIYYAH -I MUHANDISI -I BARQ VA MUHANDISI -I KAMPYUTAR -I IRAN, A- MUHANDISI -I BARQ, 15(3), 185-193. SID. https://sid.ir/paper/228080/en

Vancouver: Copy

AMINZADEH GHAVIFEKR A., RIKHTEGHAR GHIASI A., BADAMCHIZADEH M.A., HASHEMZADEH F.. EXPONENTIAL STABILITY ANALYSIS OF DISCRETE LINEAR TELEOPERATION SYSTEMS WITH NONUNIFORM SAMPLING. NASHRIYYAH -I MUHANDISI -I BARQ VA MUHANDISI -I KAMPYUTAR -I IRAN, A- MUHANDISI -I BARQ[Internet]. 2017;15(3):185-193. Available from: https://sid.ir/paper/228080/en

IEEE: Copy

A. AMINZADEH GHAVIFEKR, A. RIKHTEGHAR GHIASI, M.A. BADAMCHIZADEH, and F. HASHEMZADEH, “EXPONENTIAL STABILITY ANALYSIS OF DISCRETE LINEAR TELEOPERATION SYSTEMS WITH NONUNIFORM SAMPLING,” NASHRIYYAH -I MUHANDISI -I BARQ VA MUHANDISI -I KAMPYUTAR -I IRAN, A- MUHANDISI -I BARQ, vol. 15, no. 3, pp. 185–193, 2017, [Online]. Available: https://sid.ir/paper/228080/en

Related Journal Papers