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سی و یکمین کنفرانس بین المللی مهندسی برق
Nonlinear Observer Design via Emulation Method for Sampled-data Teleoperation Systems
نویسندگان :
Ali Firouzi Abriz
1
Amir Aminzadeh Ghavifekr
2
Ashkan Safari
3
1- University of Tabriz
2- University of Tabriz
3- University of Tabriz
کلمات کلیدی :
Teleoperation System،Emulation Method،Observer Design،Sampled-data System،Stability
چکیده :
In this paper nonlinear observers have been designed for the sampled-data teleoperation systems. The proposed approach can be utilized for continuous-time systems which are implemented by digital computers and sample and hold devices. Continues-time design (CTD) estimation procedure will be presented for nonlinear sampled-data teleoperation systems. Assumptions and input to state stability conditions will be provided to facilitate the observers to converge to the actual states at each sampling interval in a semiglobal practical sense. The exact sampled-data form of the teleoperator will be approximated by utilizing the refined Euler model and incorporating observer parameters with sampling intervals. Simulation results demonstrate that the proposed emulation-based scheme guarantees the input-to-error stability of the system in terms of the linear matrix inequalities.
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بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 44.7.2
