Finite word length stability issues of a teleoperation motion-scaling control system

TitleFinite word length stability issues of a teleoperation motion-scaling control system
Publication TypeConference Paper
Year of Publication1998
AuthorsIstepanian, R. S. H., J. Wu, J. F. Whidborne, J. Yan, and S. E. Salcudean
Conference NameControl '98. UKACC International Conference on (Conf. Publ. No. 455)
Pagination1676 -1681 vol.2
Date Publishedsep.
Keywordsbilateral motion-scaling teleoperation control system, finite word length stability, optimal controller structures, parameterized digital controller, stability robustness measures, telerobotics, word length constraints
Abstract

We study the finite-precision implementation and the relevant stability conditions for optimal controller structures of a bilateral motion-scaling teleoperation control system. The parameterized digital controller realizations and the relevant stability robustness measures subject to word length constraints are formulated. The resulting controller structure provide an improved stability condition with minimum finite word length implementation
URLhttp://dx.doi.org/10.1049/cp:19980481
DOI10.1049/cp:19980481

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