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dc.contributor.authorHilliard, Trent
dc.date.accessioned2012-08-22T12:19:07Z
dc.date.available2012-08-22T12:19:07Z
dc.date.issued2012-08-22
dc.identifier.urihttp://hdl.handle.net/10222/15312
dc.description.abstractA novel control scheme for asymmetric bilateral teleoperation systems is developed based on linear models of the hardware, with two scenarios considered: i) only an upper bound on the time delay and ii) an upper and lower bounds on the time delay. Lyapunov based methods are used with linear matrix inequalities to prove that the system error is bounded between the manipulators. To ensure stability, a master side impedance matching controller is used. Simulations were conducted using the Matlab and Simulink platform to run the LMI code and simulate the system. Experiments were then conducted using actual hardware to verify the results, with deviations from imulation results. The variations were due to non-linearities in the hardware and model parameter approximation errors. Finally, suggestions for future work are made.en_US
dc.language.isoen_USen_US
dc.subjectBilateral Teleoperationen_US
dc.subjectControl Theoryen_US
dc.titleStabilization of Asymmetric Bilateral Teleoperation Systems with Time-Varying Delaysen_US
dc.typeThesisen_US
dc.date.defence2012-08-10
dc.contributor.departmentDepartment of Mechanical Engineeringen_US
dc.contributor.degreeMaster of Applied Scienceen_US
dc.contributor.external-examinerDr. Jason Guen_US
dc.contributor.graduate-coordinatorDr. Ya-Jun Panen_US
dc.contributor.thesis-readerDr. Robert Baueren_US
dc.contributor.thesis-supervisorDr. Ya-Jun Panen_US
dc.contributor.ethics-approvalNot Applicableen_US
dc.contributor.manuscriptsNot Applicableen_US
dc.contributor.copyright-releaseNot Applicableen_US
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