Proceedings ArticleDOI
Robust performance control design for bilateral teleoperation under time-varying bounded operator and environment dynamics
Cesar A. Lopez Martinez,René van de Molengraft,M Maarten Steinbuch +2 more
- pp 3465-3470
TLDR
A new representation of a teleoperation system is presented that allows to treat separately the mass, damping and stiffness of both environment and operator, allowing to put independent bounds on these parameters without introducing conservatism in the model.Abstract:
Bilateral teleoperation systems are used in different applications to manipulate the environment remotely. The control design for such systems represents a challenge in finding the proper balance in the inherent trade-off between transparency and stability. In order to address that problem, we present a new representation of a teleoperation system that allows to treat separately the mass, damping and stiffness of both environment and operator, allowing to put independent bounds on these parameters without introducing conservatism in the model. Moreover, we use robust control techniques based on Linear Matrix Inequalities theory to design controllers that guarantee performance and stability for a specific range of time varying environment and operator dynamics. Simulations demonstrate the effectiveness of the method to trade-off transparency and stability in a suitable way.read more
Citations
More filters
Journal ArticleDOI
Robust high performance bilateral teleoperation under bounded time-varying dynamics
TL;DR: This work proposes a methodology in which a parametric model of the teleoperation system is developed, and exploits robust control techniques based on linear matrix inequalities to design controllers that aim to achieve a predefined performance, and are robust to bounded but arbitrarily fast-time-varying parametric uncertainties.
Journal ArticleDOI
High Performance and Stable Teleoperation under Bounded Operator and Environment Dynamics
TL;DR: This work addresses the problem of control design for bilateral teleoperation systems by making use of a parametric model of the teleoperation system, which allows for independent bounds on the uncertain parameters without introducing conservatism in the model.
References
More filters
Journal ArticleDOI
Using SeDuMi 1.02, a MATLAB toolbox for optimization over symmetric cones
TL;DR: This paper describes how to work with SeDuMi, an add-on for MATLAB, which lets you solve optimization problems with linear, quadratic and semidefiniteness constraints by exploiting sparsity.
Book
Multivariable Feedback Control: Analysis and Design
TL;DR: This book presents a rigorous, yet easily readable, introduction to the analysis and design of robust multivariable control systems and provides the reader with insights into the opportunities and limitations of feedback control.
Journal ArticleDOI
Stability and transparency in bilateral teleoperation
TL;DR: It is shown that a proper use of an four channels is of critical importance in achieving high performance telepresence in the sense of accurate transmission of task impedances to the operator.
Journal ArticleDOI
System analysis via integral quadratic constraints
TL;DR: A stability theorem for systems described by IQCs is presented that covers classical passivity/dissipativity arguments but simplifies the use of multipliers and the treatment of causality.
Linear Matrix Inequalities in Control
Carsten W. Scherer,Siep Weiland +1 more
TL;DR: In this article, the role of LMI in dissipativity stability and nominal performance is discussed, from analysis to synthesis, from nominal to robust stability, robust performance and robust synthesis.