패킷 손실을 포함하는 원격제어시스템의 안정성 조건Stability Condition for Teleoperation System with Packet Loss

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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.
Publisher
대한기계학회
Issue Date
2011-11-02
Language
KOR
Citation

대한기계학회 2011년도 추계학술대회, pp.760 - 761

URI
http://hdl.handle.net/10203/169212
Appears in Collection
ME-Conference Papers(학술회의논문)
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