Stability analysis of a human-in-the-loop telerobotics system with two independent time-delays

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dc.citation.epage6524en_US
dc.citation.issueNumber1en_US
dc.citation.spage6519en_US
dc.citation.volumeNumber50en_US
dc.contributor.authorYousefi, Ehsanen_US
dc.contributor.authorYıldıray, Yıldızen_US
dc.contributor.authorSipahi, Rıfaten_US
dc.contributor.authorYücelen, Tanselen_US
dc.date.accessioned2018-04-12T11:11:58Z
dc.date.available2018-04-12T11:11:58Z
dc.date.issued2017en_US
dc.departmentDepartment of Mechanical Engineeringen_US
dc.description.abstractIn this paper, stability of a human-in-the-loop telerobotics system with force feedback and communication delays is investigated. A general linear time-invariant time-delayed mathematical model of the human operator is incorporated into the system dynamics based on the interaction of the human operator with the rest of the telerobotic system. The resulting closed loop dynamics contains two independent time-delays mainly due to back and forth communication delay and human reaction time delay. Stability of this dynamics is characterized next on the plane of the two delays by rigorous mathematical investigation using Cluster Treatment of Characteristic Roots (CTCR). An illustrative numerical example is further provided in the results section along with interpretations.en_US
dc.description.provenanceMade available in DSpace on 2018-04-12T11:11:58Z (GMT). No. of bitstreams: 1 bilkent-research-paper.pdf: 179475 bytes, checksum: ea0bedeb05ac9ccfb983c327e155f0c2 (MD5) Previous issue date: 2017en
dc.identifier.doi10.1016/j.ifacol.2017.08.596en_US
dc.identifier.issn24058963
dc.identifier.urihttp://hdl.handle.net/11693/37385
dc.language.isoEnglishen_US
dc.publisherElsevier B.V.en_US
dc.relation.isversionofhttp://dx.doi.org/10.1016/j.ifacol.2017.08.596en_US
dc.source.titleIFAC-PapersOnLineen_US
dc.subjectHuman-in-the-loop systemsen_US
dc.subjectStabilityen_US
dc.subjectTeleroboticsen_US
dc.subjectTime-delay systemen_US
dc.titleStability analysis of a human-in-the-loop telerobotics system with two independent time-delaysen_US
dc.typeArticleen_US

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