LMI Based Stability Analysis of State Convergence Architecture for Bilateral Teleoperation Systems

Muhammad Usman Asad; Khurram Karim Qureshi; Jason Gu; Valentina E. Balas; Umar Farooq

doi:10.1109/CCECE49351.2022.9918395

LMI Based Stability Analysis of State Convergence Architecture for Bilateral Teleoperation Systems

Muhammad Usman Asad, Khurram Karim Qureshi, Jason Gu, Valentina E. Balas, Umar Farooq

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, the stability of state convergence architecture for bilateral teleoperation is studied using linear matrix inequalities (LMI). To this end, stabilizing gains for the master and slave systems as well as master-to-slave gain are found as a solution to certain LMI conditions while the force-feedforward gain is found by matching technique. In order to validate the proposed method, the closed-loop teleoperation is run in MATLAB/Simulink environment. Simulation results reveal the stability of the bilateral teleoperation system.

Original language	English
Title of host publication	2022 35th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	136-140
Number of pages	5
ISBN (Electronic)	9781665484329
DOIs	https://doi.org/10.1109/CCECE49351.2022.9918395
State	Published - 2022
Event	35th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2022 - Halifax, Canada Duration: 18 Sep 2022 → 20 Sep 2022

Publication series

Name	Canadian Conference on Electrical and Computer Engineering
Volume	2022-September
ISSN (Print)	0840-7789

Conference

Conference	35th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2022
Country/Territory	Canada
City	Halifax
Period	18/09/22 → 20/09/22

Bibliographical note

Publisher Copyright:
© 2022 IEEE.

Keywords

MATLAB/Simulink
State convergence
linear matrix inequalities
stability
teleoperation

ASJC Scopus subject areas

Hardware and Architecture
Electrical and Electronic Engineering

Access to Document

10.1109/CCECE49351.2022.9918395

Cite this

Asad, M. U., Qureshi, K. K., Gu, J., Balas, V. E., & Farooq, U. (2022). LMI Based Stability Analysis of State Convergence Architecture for Bilateral Teleoperation Systems. In 2022 35th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2022 (pp. 136-140). (Canadian Conference on Electrical and Computer Engineering; Vol. 2022-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCECE49351.2022.9918395

Asad, Muhammad Usman ; Qureshi, Khurram Karim ; Gu, Jason et al. / LMI Based Stability Analysis of State Convergence Architecture for Bilateral Teleoperation Systems. 2022 35th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2022. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 136-140 (Canadian Conference on Electrical and Computer Engineering).

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abstract = "In this paper, the stability of state convergence architecture for bilateral teleoperation is studied using linear matrix inequalities (LMI). To this end, stabilizing gains for the master and slave systems as well as master-to-slave gain are found as a solution to certain LMI conditions while the force-feedforward gain is found by matching technique. In order to validate the proposed method, the closed-loop teleoperation is run in MATLAB/Simulink environment. Simulation results reveal the stability of the bilateral teleoperation system.",

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author = "Asad, {Muhammad Usman} and Qureshi, {Khurram Karim} and Jason Gu and Balas, {Valentina E.} and Umar Farooq",

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doi = "10.1109/CCECE49351.2022.9918395",

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Asad, MU, Qureshi, KK, Gu, J, Balas, VE & Farooq, U 2022, LMI Based Stability Analysis of State Convergence Architecture for Bilateral Teleoperation Systems. in 2022 35th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2022. Canadian Conference on Electrical and Computer Engineering, vol. 2022-September, Institute of Electrical and Electronics Engineers Inc., pp. 136-140, 35th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2022, Halifax, Canada, 18/09/22. https://doi.org/10.1109/CCECE49351.2022.9918395

LMI Based Stability Analysis of State Convergence Architecture for Bilateral Teleoperation Systems. / Asad, Muhammad Usman; Qureshi, Khurram Karim; Gu, Jason et al.
2022 35th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 136-140 (Canadian Conference on Electrical and Computer Engineering; Vol. 2022-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper, the stability of state convergence architecture for bilateral teleoperation is studied using linear matrix inequalities (LMI). To this end, stabilizing gains for the master and slave systems as well as master-to-slave gain are found as a solution to certain LMI conditions while the force-feedforward gain is found by matching technique. In order to validate the proposed method, the closed-loop teleoperation is run in MATLAB/Simulink environment. Simulation results reveal the stability of the bilateral teleoperation system.

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Asad MU, Qureshi KK, Gu J, Balas VE, Farooq U. LMI Based Stability Analysis of State Convergence Architecture for Bilateral Teleoperation Systems. In 2022 35th IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 136-140. (Canadian Conference on Electrical and Computer Engineering). doi: 10.1109/CCECE49351.2022.9918395

LMI Based Stability Analysis of State Convergence Architecture for Bilateral Teleoperation Systems

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this