Stability Analysis Of Networked Bilateral Teleoperation System

In recent years,due to the development of computer technology,control technology,and network technology,teleoperation technology has gained more and more attention from researchers and society.Since the public network has become part of the teleoperation system,a "networked teleoperation system" has appeared.However,the time delay in the networked teleoperation system has also become more complicated than the old teleoperation system.Moreover,for any teleoperation system,the delay may affect the performance of the system.If the delay is too large,the system may even become unstable.It can be seen that the research on the stability of the networked teleoperation system has very important value.The main research works are summarized as follows.First,a Lyapunov-Krasovsky functional based on the novel Bessel-Legendre integral inequality is proposed,which combines this Yapunov-Krasovsky functional for networked teleoperation The stability of the system is analyzed,and the stability criterion of the timedelay teleoperation system is proposed by using this method,and the effectiveness of the method is verified by simulation.Secondly,a new type of triple integral Lyapunov-Krasovsky functional is proposed,and the networked teleoperation system is stabilized by using the proposed triple integral Lyapunov-Krasovsky functional Analyze,and put forward the corresponding operating system stability criterion by using this method,and verify the effectiveness of the method through simulation.Finally,a new type of Lyapunov-Krasovsky functional is proposed,and then by using this new type of Lyapunov-Krasovsky functional,the stability analysis of the networked teleoperation system is carried out,and through Using this method,the criterion of the stability of the teleoperation system is proposed,and the effectiveness of the method is verified by simulation.