Leader–following consensus control for networked multi-teleoperator systems with interval time-varying communication delays

doi:10.1088/1674-1056/22/7/070506

中国物理B ›› 2013, Vol. 22 ›› Issue (7): 70506-070506.doi: 10.1088/1674-1056/22/7/070506

Leader–following consensus control for networked multi-teleoperator systems with interval time-varying communication delays

M. J. Park^a, S. M. Lee^b, J. W. Son^c, O. M. Kwon^a, E. J. Cha^d

a School of Electrical Engineering, Chungbuk National University, 52 Naesudong-ro, Heungduk-gu, Cheongju 361-763, Republic of Korea;
b School of Electronic Engineering, Daegu University, Gyungsan 712-714, Republic of Korea;
c Division of IT-Convergence, Daegu Gyeongbuk Institute of Science & Technology,50-1 Sang-Ri, Hyeonpung-Myeon, Dalseong-gun, Daegu 711-873, Republic of Korea;
d Department of Biomedical Engineering, School of Medicine, Chungbuk National University,52 Naesudong-ro, Heungduk-gu, Cheongju 361-763, Republic of Korea

收稿日期:2013-01-14 修回日期:2013-02-13 出版日期:2013-06-01 发布日期:2013-06-01
基金资助:
Project supported by MEST & DGIST (12-IT-04, Development of the Medical & IT Convergence System) and the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (Grant Nos. 2011-0009273 and 2012-0000479).

Leader–following consensus control for networked multi-teleoperator systems with interval time-varying communication delays

M. J. Park^a, S. M. Lee^b, J. W. Son^c, O. M. Kwon^a, E. J. Cha^d

a School of Electrical Engineering, Chungbuk National University, 52 Naesudong-ro, Heungduk-gu, Cheongju 361-763, Republic of Korea;
b School of Electronic Engineering, Daegu University, Gyungsan 712-714, Republic of Korea;
c Division of IT-Convergence, Daegu Gyeongbuk Institute of Science & Technology,50-1 Sang-Ri, Hyeonpung-Myeon, Dalseong-gun, Daegu 711-873, Republic of Korea;
d Department of Biomedical Engineering, School of Medicine, Chungbuk National University,52 Naesudong-ro, Heungduk-gu, Cheongju 361-763, Republic of Korea

Received:2013-01-14 Revised:2013-02-13 Online:2013-06-01 Published:2013-06-01
Contact: O. M. Kwon E-mail:madwind@chungbuk.ac.kr
Supported by:
Project supported by MEST & DGIST (12-IT-04, Development of the Medical & IT Convergence System) and the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (Grant Nos. 2011-0009273 and 2012-0000479).

摘要/Abstract

摘要： We study the leader–following consensus stability and stabilization of networked multi-teleoperator systems with interval time-varying communication delays. By the construction of a suitable Lyapunov–Krasovskii functional and the utilization of the reciprocally convex approach, novel delay-dependent consensus stability and stabilization conditions for the systems are established in terms of linear matrix inequalities (LMIs), which can be easily solved by various effective optimization algorithms. One illustrative example is given to illustrate the effectiveness of the proposed methods.

关键词: multi-teleoperator systems, interval time-varying delay, leader–, following consensus problem, Lyapunov method

Abstract: We study the leader–following consensus stability and stabilization of networked multi-teleoperator systems with interval time-varying communication delays. By the construction of a suitable Lyapunov–Krasovskii functional and the utilization of the reciprocally convex approach, novel delay-dependent consensus stability and stabilization conditions for the systems are established in terms of linear matrix inequalities (LMIs), which can be easily solved by various effective optimization algorithms. One illustrative example is given to illustrate the effectiveness of the proposed methods.

Key words: multi-teleoperator systems, interval time-varying delay, leader–following consensus problem, Lyapunov method

中图分类号: (Self-organized systems)

05.65.+b

02.10.Yn (Matrix theory)

M. J. Park, S. M. Lee, J. W. Son, O. M. Kwon, E. J. Cha. Leader–following consensus control for networked multi-teleoperator systems with interval time-varying communication delays[J]. 中国物理B, 2013, 22(7): 70506-070506.

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Leader–following consensus control for networked multi-teleoperator systems with interval time-varying communication delays

Leader–following consensus control for networked multi-teleoperator systems with interval time-varying communication delays

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