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• W1967158082 abstract "This paper investigates the possibility of deriving frequency-domain conditions for robust stability in presence of time-varying communication delays and parametric uncertainties in the four-channel control scheme. This teleoperation setup can be modeled as a negative single feedback loop containing a linear time invariant LTI block and an uncertain time-varying delay for applying the analysis tool based on mu-plots. With this model we can also justify the proposed γ-4C scheme, which introduces a tuning factor γ to increase in practical conditions the stable region fixing the desired bounds on time-varying delay, with the particularity of maintaining the tracking properties provided by the 4C transparent control scheme. Simulation results justify the proposed controllers and confirm the stability robustness." @default.
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• W1967158082 date "2013-11-01" @default.
• W1967158082 modified "2023-10-16" @default.
• W1967158082 title "Robust stability in &#x03B3;-4C based teleoperation" @default.
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• W1967158082 doi "https://doi.org/10.1109/iecon.2013.6699819" @default.
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