Stability Analysis for Bilateral Teleoperation: An IQC Formulation
Stability Analysis for Bilateral Teleoperation: An IQC Formulation
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双边远程操作的稳定性分析：IQC 公式
DOI：
10.1109/tro.2012.2209230
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发表时间：
2012
影响因子：
7.8
通讯作者：
C. Scherer
中科院分区：
文献类型：
--
作者：
I. Polat;C. Scherer
利用积分二次约束的公式，给出了不确定双边遥操作系统的稳定性分析和数值试验用例。在面对被动的人和环境操作者时，源于网络理论的常用鲁棒稳定性条件被证明是该框架中的特殊案例。这允许我们将看似不同的频域方法包含到一个公式中。采用这种统一的方法，可以同时将不同的不确定度纳入稳定性试验中。针对一个简单的遥操作系统，导出了几种常见的不确定性类型和相应的稳定性分析试验，并进行了数值说明。这些数值例子强调了在远程操作系统中对人和环境进行精细建模的必要性。
We present the stability analysis of uncertain bilateral teleoperation systems and numerical test cases via a formulation in terms of integral quadratic constraints. Frequently used robust stability conditions originating from network theory in the face of passive human and environment operators are shown to be particular cases in this framework. This allows us to subsume seemingly different frequency-domain methods to one formulation. Using this unified approach, different uncertainty classes can be incorporated into the stability test simultaneously. A few commonly encountered uncertainty types and the corresponding stability analysis tests are derived and numerically illustrated for a simple teleoperation system. These numerical examples highlight the need for a refined modeling of the human and the environment in teleoperation systems.
影响因子：
6.8
作者：
T. Iwasaki;S. Hara
通讯作者：
T. Iwasaki;S. Hara