Abstract
In this paper, the theory of a new stochastic switching control strategy based on Linear Matrix Inequalities (LMIs) is applied to the bilateral teleoperation systems over networks with time delays and packet loss (Walker et al., 2008). The control algorithm in the theory part is here extended to a case with asymmetric communication channels. In the experiment, two identical 1-DOF (degree of freedom) manipulators are used as master and slave systems. The characteristics of the network with random time delays and packet loss are thoroughly incorporated in the design. Correspondingly, a stochastic switching control is proposed to ensure that the tracking error is bounded by the rate of change of the external forces acting on the system. Finally, experimental setup and results are extensively discussed.
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