Teleoperation controller design using H infin;-optimization with application to motion-scaling

TitleTeleoperation controller design using H infin;-optimization with application to motion-scaling
Publication TypeJournal Article
Year of Publication1996
AuthorsYan, J., and S. E. Salcudean
JournalControl Systems Technology, IEEE Transactions on
Pagination244 -258
Date Publishedmay.
Keywords-optimization, bilateral teleoperation controller, control, control system synthesis, design strategy, H infin, magnetic levitation, man-machine systems, manipulators, microsurgery, motion control, motion-scaling, optimisation, performance criteria, surgery, system robustness, telerobotics

The design of a bilateral teleoperation controller is a nontrivial problem. The goal is to achieve a stable system with optimal performance in the possible presence of time delays, disturbances, uncertainties and/or measurement noise. In this paper, a general design strategy based on H infin; theory is presented. This approach allows a convenient means to trade off the optimization of various performance criteria and system robustness. The control approach is applied to a motion-scaling teleoperation system and simulations and experiments with the resulting controllers demonstrate that the strategy is effective


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