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Stability Condition for Teleoperation System with Packet Loss


Conference Paper


This paper focuses on the stability condition of teleoperation system where there is a packet loss in communication channel. Communication channel between master and slave cause packet loss and it obviously leads to a performance degradation and instability of teleoperation system. We consider two-channel control architecture for teleoperation system, and control inputs to remote site are produced by position of master and slave. In this paper, teleoperation system is modeled in discrete domain to include packet loss process. Also, the stability condition for teleoperation system with packet loss is discussed with input-to-state stability. Finally, the stability condition is presented in LMI approach.

Author(s): Hong, A. and Cho, JH. and Lee, DY.
Pages: 760-761
Year: 2011
Month: November
Day: 0

Department(s): Empirical Inference
Bibtex Type: Conference Paper (inproceedings)

Event Name: 2011 KSME Annual Fall Conference
Event Place: Daegu, South Korea

Digital: 0


  title = {Stability Condition for Teleoperation System with Packet Loss},
  author = {Hong, A. and Cho, JH. and Lee, DY.},
  pages = {760-761},
  month = nov,
  year = {2011},
  month_numeric = {11}