Guaranteed Cost Control Design for Delayed Teleoperation Systems
Författare
Summary, in English
A procedure for guaranteed cost control design of delayed linear bilateral teleoperation systems with nonlinear external forces is proposed. The assumption that the external forces are nonlinear functions of velocities and/or positions of local devices, and one part of these forces satisfies a sector condition has been made. A virtual tool system is introduced to 'observe' the forces at the remote sides, the position and velocity information of the master, the slave and the virtual tool are feedbacked to the controllers, hence the proposed control scheme actually has a four-channel architecture. A delay-dependent stability criterion is formulated, and then a sub-optimal guaranteed cost controller is obtained by solving a convex optimization problem in the form of linear matrix inequalities (LMIs). The behavior of the resulting teleoperation system is illustrated in simulations. (C) 2015 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
Avdelning/ar
Publiceringsår
2015
Språk
Engelska
Sidor
5085-5105
Publikation/Tidskrift/Serie
Journal of the Franklin Institute
Volym
352
Issue
11
Länkar
Dokumenttyp
Artikel i tidskrift
Förlag
Elsevier
Ämne
- Control Engineering
Status
Published
Projekt
- LU Robotics Laboratory
ISBN/ISSN/Övrigt
- ISSN: 0016-0032