Master-slave telecontrol of a class of underactuated mechanical systems with communication time-delay
| Autor: | Ollin Peñaloza-Mejía, Jaime Alvarez-Gallegos, Luis Alejandro Marquez-Martinez |
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| Rok vydání: | 2008 |
| Předmět: |
Scheme (programming language)
Class (computer programming) Engineering Reflection (computer programming) business.industry Stability (learning theory) Local area network Master/slave Control engineering Position (vector) Control theory business computer computer.programming_language Parametric statistics |
| Zdroj: | IFAC Proceedings Volumes. 41:9174-9179 |
| ISSN: | 1474-6670 |
| Popis: | This paper deals with the problem of time-delay telecontrol of a class of underactuated mechanical systems (UMS) in a master-slave configuration. This problem has been solved by designing some discontinuous causal compensators which have proved by formal stability analysis to guarantee position coordination of the mechanisms and to allow good force reflection to the master side, satisfying in this way classical objectives in the telecontrol of systems. Moreover, the whole closed-loop system behaves stable and results robust to parametric uncertainties and external disturbances. The performance of the proposed control scheme is visualized through experiments developed in a local network. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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