High performance teleoperation by bumpless transfer of robust controllers

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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 languageEnglish
Title of host publicationIEEE Haptics Symposium 2014, HAPTICS 2014, 23-26 February 2014, Houston, Texas
Place of PublicationBrussels
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)978-1-4799-3131-6
Publication statusPublished - 2014
Event2014 IEEE Haptics Symposium, (HAPTICS 2014) - Houston, United States
Duration: 23 Feb 201426 Feb 2014


Conference2014 IEEE Haptics Symposium, (HAPTICS 2014)
Abbreviated titleHAPTICS 2014
Country/TerritoryUnited States


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


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