文章基本信息

标题：Stability Analysis of a Human-in-the-Loop Telerobotics System with Two Independent Time-Delays
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作者：Ehsan Yousefi ; Yildiray Yildiz ; Rifat Sipahi 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：6519-6524
DOI：10.1016/j.ifacol.2017.08.596
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, stability of a human-in-the-loop telerobotics system with force feedback and communication delays is investigated. A general linear time-invariant time-delayed mathematical model of the human operator is incorporated into the system dynamics based on the interaction of the human operator with the rest of the telerobotic system. The resulting closed loop dynamics contains two independent time-delays mainly due to back and forth communication delay and human reaction time delay. Stability of this dynamics is characterized next on the plane of the two delays by rigorous mathematical investigation using Cluster Treatment of Characteristic Roots (CTCR). An illustrative numerical example is further provided in the results section along with interpretations.
关键词：KeywordsTeleroboticsHuman-in-the-Loop SystemsStabilityTime-Delay System