Extended TP model transformation for polytopic representation of impedance model with feedback delay

摘要

In force controlled industrial robots, haptic and telemanipulation devices stability and control performance are contradicting requirements. In distributed systems where the sensors, actuators and control logic are separated in space, due to the network delays the control process may become unstable. In our research, we consider the coupled impedance type control algorithms as common used method in telemanipulation and interaction control of robots. In this paper, an extended TP model transformation is proposed to convert the delayed system into a polytopic tensor product (TP) model considering the value of the feedback delay as a parameter. Using such model, controller design become tractable as it does not contain feedback delay. A numerical example for a single degree of freedom impedance model with feedback delay is discussed. The results are confirmed by simulation.