Sistemas de teleoperação bilateral sujeitos a atrasos variantes no tempo

Abstract

This work presents methods of stability analysis for bilateral teleoperation systems subject to time-varying delays. A bilateral teleoperation system is a robotic system where an operator acts on a local manipulator and this command is transmitted to a remote manipulator, the bilaterality is due to interaction with the environment, which is reflected back to the operator. For this data transmission to occur a communication channel is required which inevitably, due to the long distances between the manipulators, network traffic, among other factors, inserts time-varying delays into the system that can cause instability and reduce performance. The main result of this research is the demonstration that different stability conditions based on linear matrix inequalities (LMIs) have the same analytical solution, thus resulting in a condition that relates the communication delays in the system with the control law parameters, so that there is no the computational cost to find the largest delays for which the system becomes estable for a specific controller, or alternatively for the controller parameters that guarantee the stability of the system for given maximum delays. Computational simulations and real experiences are presented to illustrate the effectiveness of the proposed result.