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On the H2 Decentralized Controller Synthesis for Delayed Bilateral Teleoperation Systems

Författare:
  • Jang Ho Cho
  • Maxim Kristalny
Publiceringsår: 2012
Språk: Engelska
Sidor: 393-398
Dokumenttyp: Konferensbidrag

Sammanfattning

Procedure for the synthesis of decentralized controllers for delayed bilateral teleoperation systems is proposed, based on the analytical solution of a global H2 optimization. Explicit state-space formulae for the optimal controller are presented. The controller possesses a neat structure, which preserves closed-loop stability regardless of the delay length. The behavior of the resulting teleoperation system is illustrated in simulations and verified by experiments.

Disputation

Nyckelord

  • Technology and Engineering

Övriga

10th International IFAC Symposium on Robot Control
2012-09-05
Dubrovnik, Croatia
Published
  • LCCC
Yes
  • LCCC

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