Robust performance control design for bilateral teleoperation under time-varying bounded operator and environment dynamics

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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 languageEnglish
Title of host publicationProceedings of the 2012 American Control Conference (ACC 2012), 27-29 June 2012, Montréal, Québec, Canada
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages3465-3470
ISBN (Print)978-1-4673-2102-0
Publication statusPublished - 2012
Event2012 American Control Conference (ACC 2012) - Fairmont Queen Elizabeth, Montréal, Canada
Duration: 27 Jun 201229 Jun 2012
http://acc2012.a2c2.org/
http://acc2012.a2c2.org/index.php

Conference

Conference2012 American Control Conference (ACC 2012)
Abbreviated titleACC 2012
Country/TerritoryCanada
CityMontréal
Period27/06/1229/06/12
Internet address

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