TY - GEN
T1 - Stability conditions for asymmetric dual-user shared control method with uncertain time delay
AU - Lu, Zhenyu
AU - Huang, Panfeng
AU - Liu, Zhengxiong
AU - Meng, Zhongjie
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/28
Y1 - 2015/9/28
N2 - This paper presents a novel method - asymmetric dual-user shared control method to enhance the variety of the training mode and improve the flexibility of the dual-user tele-manipulation process. Firstly, we model the novel dual-user shared control architecture with multi-dominance factors and analysis the relationship between the proposed method and the original one. Then, several performance measuring functions are built to analysis and conclude some properties such as the system transparency and movement tracking performance influenced by impedance or dominance factors. Furthermore, we presented the system stability conditions with uncertain communicating delay using passivity theory, as well as the results in ideal transparency and ignoring the effect of all dominance factors. The whole paper is concluded in the end.
AB - This paper presents a novel method - asymmetric dual-user shared control method to enhance the variety of the training mode and improve the flexibility of the dual-user tele-manipulation process. Firstly, we model the novel dual-user shared control architecture with multi-dominance factors and analysis the relationship between the proposed method and the original one. Then, several performance measuring functions are built to analysis and conclude some properties such as the system transparency and movement tracking performance influenced by impedance or dominance factors. Furthermore, we presented the system stability conditions with uncertain communicating delay using passivity theory, as well as the results in ideal transparency and ignoring the effect of all dominance factors. The whole paper is concluded in the end.
KW - Asymmetric dual-user shared control method
KW - multi-dominance factors
KW - Performance measuring function
KW - Stable proof
KW - Uncertain time delay
UR - http://www.scopus.com/inward/record.url?scp=84959902380&partnerID=8YFLogxK
U2 - 10.1109/ICInfA.2015.7279616
DO - 10.1109/ICInfA.2015.7279616
M3 - 会议稿件
AN - SCOPUS:84959902380
T3 - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
SP - 1997
EP - 2002
BT - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
Y2 - 8 August 2015 through 10 August 2015
ER -