H∞ based state feedback robust controller for nonlinear tele-operation system with variable time-delays

Saba Al-Wais; Tae H. Lee; Lakshmanan Shanmugam; Hamid Abdi; Saeid Nahavandi

doi:10.1109/ASCC.2017.8287238

H_∞ based state feedback robust controller for nonlinear tele-operation system with variable time-delays

Saba Al-Wais
, Tae H. Lee
, Lakshmanan Shanmugam
, Hamid Abdi
, Saeid Nahavandi

Division of Electronic Engineering

University of Technology- Iraq
Deakin University
Kunsan National University

Research output: Contribution to conference › Conference paper › peer-review

1 Scopus citations

Abstract

This paper is devoted to the problem of robust control for a nonlinear tele-operation system with variable time-delay. Proportional (P) control scheme is used to couple the master and slave robotic arms bilaterally. Lyapunov-Krasovskii Functional (LKF) and H_∞ design method is used to develop delay-dependent stability conditions that are robust to the variations of the exogenous inputs from the operator and environment in the form of Linear Matrix Inequality (LMI). The stability conditions are solved using Matlab LMI toolbox to obtain the values of the control parameters and the upper bounds of the variable time-delays in the forward and backward communication channels. The designed controller efficiency is demonstrated using simulations.

Original language	English
Title of host publication	2017 Asian Control Conference, ASCC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	600-605
Number of pages	6
ISBN (Electronic)	9781509015733
DOIs	https://doi.org/10.1109/ASCC.2017.8287238
State	Published - 2018.02.7
Event	2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Australia Duration: 2017.12.17 → 2017.12.20

Publication series

Name	2017 Asian Control Conference, ASCC 2017
Volume	2018-January

Conference

Conference	2017 11th Asian Control Conference, ASCC 2017
Country/Territory	Australia
City	Gold Coast
Period	17.12.17 → 17.12.20

Keywords

H control
Linear Matrix Inequality
Lyapunov-Krasovskii functional
Tele-operation
Variable time-delay

Access to Document

10.1109/ASCC.2017.8287238

Cite this

Al-Wais, S., Lee, T. H., Shanmugam, L., Abdi, H., & Nahavandi, S. (2018). H_∞ based state feedback robust controller for nonlinear tele-operation system with variable time-delays. In 2017 Asian Control Conference, ASCC 2017 (pp. 600-605). (2017 Asian Control Conference, ASCC 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2017.8287238

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title = "H∞ based state feedback robust controller for nonlinear tele-operation system with variable time-delays",

abstract = "This paper is devoted to the problem of robust control for a nonlinear tele-operation system with variable time-delay. Proportional (P) control scheme is used to couple the master and slave robotic arms bilaterally. Lyapunov-Krasovskii Functional (LKF) and H∞ design method is used to develop delay-dependent stability conditions that are robust to the variations of the exogenous inputs from the operator and environment in the form of Linear Matrix Inequality (LMI). The stability conditions are solved using Matlab LMI toolbox to obtain the values of the control parameters and the upper bounds of the variable time-delays in the forward and backward communication channels. The designed controller efficiency is demonstrated using simulations.",

keywords = "H control, Linear Matrix Inequality, Lyapunov-Krasovskii functional, Tele-operation, Variable time-delay",

author = "Saba Al-Wais and Lee, \{Tae H.\} and Lakshmanan Shanmugam and Hamid Abdi and Saeid Nahavandi",

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Al-Wais, S, Lee, TH, Shanmugam, L, Abdi, H & Nahavandi, S 2018, H_∞ based state feedback robust controller for nonlinear tele-operation system with variable time-delays. in 2017 Asian Control Conference, ASCC 2017. 2017 Asian Control Conference, ASCC 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 600-605, 2017 11th Asian Control Conference, ASCC 2017, Gold Coast, Australia, 17.12.17. https://doi.org/10.1109/ASCC.2017.8287238

H_∞ based state feedback robust controller for nonlinear tele-operation system with variable time-delays. / Al-Wais, Saba; Lee, Tae H.; Shanmugam, Lakshmanan et al.
2017 Asian Control Conference, ASCC 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 600-605 (2017 Asian Control Conference, ASCC 2017; Vol. 2018-January).

Research output: Contribution to conference › Conference paper › peer-review

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AB - This paper is devoted to the problem of robust control for a nonlinear tele-operation system with variable time-delay. Proportional (P) control scheme is used to couple the master and slave robotic arms bilaterally. Lyapunov-Krasovskii Functional (LKF) and H∞ design method is used to develop delay-dependent stability conditions that are robust to the variations of the exogenous inputs from the operator and environment in the form of Linear Matrix Inequality (LMI). The stability conditions are solved using Matlab LMI toolbox to obtain the values of the control parameters and the upper bounds of the variable time-delays in the forward and backward communication channels. The designed controller efficiency is demonstrated using simulations.

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