Bilateral control of robot teleoperation for onorbit services

WANG Ruiqi1, GU Wenjin1, XIA Changjun2, ZHANG Wenguang1
(1.Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, China;
(2.Department of Ordnance Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, China)

Abstract: In order to solve the stabilization problem of bilateral teleoperation system with random distribution time delay, the Markov jumping parameters technique was investigated. System equations were firstly transformed into state space expression. After the analysis of time delay, the Markov jumping model was established. Then, based on linearity matrix inequations, delay indepentdent stabilization theorem was presented to obtain the stable system, Lyaponov function method was used to prove the stabilization theorem. Finally, the closed system was evaluated on the two different Markov probability transition matrix. Experimental results show that this approach is valid and has encouraging stabilization performance.
Key words: onorbit services; bilateral control; teleoperation; robot; linearity matrix inequations