Bilateral Control System Using Nonlinear Flexible Slave ARM With Network Delay

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Provided by: ICIC International
Topic: Networking
Format: PDF
In this paper, the authors focus on stability analysis of a bilateral control system using a nonlinear single-link flexible slave arm with constant communication network delay. In their paper, a rigid master arm and a single-link flexible slave arm comprise a bilateral control system where control is performed over a communication network with constant delay. A flexible arm was modeled by a linearized system in their previous research; however, it is described by a nonlinear system in this paper. The stability of the proposed bilateral control system is analyzed by using the Lyapunov stability theorem.
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