High performance teleoperation by bumpless transfer of robust controllers

C.A. Lopez Martinez; M.J.G. van de Molengraft; M. Steinbuch

doi:10.1109/HAPTICS.2014.6775456

High performance teleoperation by bumpless transfer of robust controllers

C.A. Lopez Martinez, M.J.G. van de Molengraft, M. Steinbuch

Control Systems Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

1 Citation (Scopus)

Abstract

It is a challenge to design controllers for bilateral teleoperation that find a proper balance in the inherent trade-off between transparency and stability. Especially, when the environment of the teleoperation system varies within a wide range, a single, constant controller might not be sufficient to achieve desired levels of performance. Hence, we propose a controller scheme with multiple robust controllers in which every controller is performance-optimized separately. The switching among them is based on bumpless transfer and they are scheduled using an environment stiffness estimator. Limited accuracy and noise of such estimator is also taken into account during control design. We show the applicability of the approach by experiments on a 1-DOF teleoperated system.

Original language	English
Title of host publication	IEEE Haptics Symposium 2014, HAPTICS 2014, 23-26 February 2014, Houston, Texas
Place of Publication	Brussels
Publisher	IEEE Computer Society
Pages	209-214
Number of pages	6
ISBN (Electronic)	978-1-4799-3131-6
DOIs	https://doi.org/10.1109/HAPTICS.2014.6775456
Publication status	Published - 2014
Event	2014 IEEE Haptics Symposium, (HAPTICS 2014) - Houston, United States Duration: 23 Feb 2014 → 26 Feb 2014

Conference

Conference	2014 IEEE Haptics Symposium, (HAPTICS 2014)
Abbreviated title	HAPTICS 2014
Country/Territory	United States
City	Houston
Period	23/02/14 → 26/02/14

Keywords

Bilateral teleoperation
bumpless transfer
gain-schedulling control
linear matrix inequalities
robust control

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10.1109/HAPTICS.2014.6775456

Cite this

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title = "High performance teleoperation by bumpless transfer of robust controllers",

abstract = "It is a challenge to design controllers for bilateral teleoperation that find a proper balance in the inherent trade-off between transparency and stability. Especially, when the environment of the teleoperation system varies within a wide range, a single, constant controller might not be sufficient to achieve desired levels of performance. Hence, we propose a controller scheme with multiple robust controllers in which every controller is performance-optimized separately. The switching among them is based on bumpless transfer and they are scheduled using an environment stiffness estimator. Limited accuracy and noise of such estimator is also taken into account during control design. We show the applicability of the approach by experiments on a 1-DOF teleoperated system.",

keywords = "Bilateral teleoperation, bumpless transfer, gain-schedulling control, linear matrix inequalities, robust control",

author = "{Lopez Martinez}, C.A. and {van de Molengraft}, M.J.G. and M. Steinbuch",

year = "2014",

doi = "10.1109/HAPTICS.2014.6775456",

language = "English",

pages = "209--214",

booktitle = "IEEE Haptics Symposium 2014, HAPTICS 2014, 23-26 February 2014, Houston, Texas",

publisher = "IEEE Computer Society",

address = "United States",

note = "2014 IEEE Haptics Symposium, (HAPTICS 2014), HAPTICS 2014 ; Conference date: 23-02-2014 Through 26-02-2014",

}

Lopez Martinez, CA , van de Molengraft, MJG & Steinbuch, M 2014, High performance teleoperation by bumpless transfer of robust controllers. in IEEE Haptics Symposium 2014, HAPTICS 2014, 23-26 February 2014, Houston, Texas., 6775456, IEEE Computer Society, Brussels, pp. 209-214, 2014 IEEE Haptics Symposium, (HAPTICS 2014), Houston, Texas, United States, 23/02/14. https://doi.org/10.1109/HAPTICS.2014.6775456

High performance teleoperation by bumpless transfer of robust controllers. / Lopez Martinez, C.A.; van de Molengraft, M.J.G.; Steinbuch, M.
IEEE Haptics Symposium 2014, HAPTICS 2014, 23-26 February 2014, Houston, Texas. Brussels: IEEE Computer Society, 2014. p. 209-214 6775456.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - High performance teleoperation by bumpless transfer of robust controllers

AU - Lopez Martinez, C.A.

AU - van de Molengraft, M.J.G.

AU - Steinbuch, M.

PY - 2014

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N2 - It is a challenge to design controllers for bilateral teleoperation that find a proper balance in the inherent trade-off between transparency and stability. Especially, when the environment of the teleoperation system varies within a wide range, a single, constant controller might not be sufficient to achieve desired levels of performance. Hence, we propose a controller scheme with multiple robust controllers in which every controller is performance-optimized separately. The switching among them is based on bumpless transfer and they are scheduled using an environment stiffness estimator. Limited accuracy and noise of such estimator is also taken into account during control design. We show the applicability of the approach by experiments on a 1-DOF teleoperated system.

AB - It is a challenge to design controllers for bilateral teleoperation that find a proper balance in the inherent trade-off between transparency and stability. Especially, when the environment of the teleoperation system varies within a wide range, a single, constant controller might not be sufficient to achieve desired levels of performance. Hence, we propose a controller scheme with multiple robust controllers in which every controller is performance-optimized separately. The switching among them is based on bumpless transfer and they are scheduled using an environment stiffness estimator. Limited accuracy and noise of such estimator is also taken into account during control design. We show the applicability of the approach by experiments on a 1-DOF teleoperated system.

KW - Bilateral teleoperation

KW - bumpless transfer

KW - gain-schedulling control

KW - linear matrix inequalities

KW - robust control

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DO - 10.1109/HAPTICS.2014.6775456

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BT - IEEE Haptics Symposium 2014, HAPTICS 2014, 23-26 February 2014, Houston, Texas

PB - IEEE Computer Society

CY - Brussels

T2 - 2014 IEEE Haptics Symposium, (HAPTICS 2014)

Y2 - 23 February 2014 through 26 February 2014

ER -

High performance teleoperation by bumpless transfer of robust controllers

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Keywords

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