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.
Original language | English |
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Title of host publication | Proceedings of the 2012 American Control Conference (ACC 2012), 27-29 June 2012, Montréal, Québec, Canada |
Place of Publication | Piscataway |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 3465-3470 |
ISBN (Print) | 978-1-4673-2102-0 |
Publication status | Published - 2012 |
Event | 2012 American Control Conference, ACC 2012 - Fairmont Queen Elizabeth, Montreal, Canada Duration: 27 Jun 2012 → 29 Jun 2012 http://acc2012.a2c2.org/ http://acc2012.a2c2.org/index.php |
Conference
Conference | 2012 American Control Conference, ACC 2012 |
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Abbreviated title | ACC 2012 |
Country/Territory | Canada |
City | Montreal |
Period | 27/06/12 → 29/06/12 |
Internet address |