Switching robust control for transparent and stable teleoperation

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

1 Citation (Scopus)

Abstract

The inherent transparency-stability trade-off in bilateral teleoperation poses a challenge to design controllers that find a proper balance between both requirements. Furthermore, when the environment of the teleoperation system varies within a wide range, a single controller might no be sufficient to achieve both stability and transparency. Therefore, we propose the synthesis of a switching robust controller that guarantees both stability and transparency for a predefined range of environment stiffness. Moreover, we take into account during the design process the fact that environment estimators will have limited accuracy due to noise and uncertainty. Subsequently, we show the potential of the approach by numerical simulation of a 1-DOF teleoperated system.
Original languageEnglish
Title of host publicationProceedings of the 6th IFAC Symposium on Mechatronic Systems, 10-12 April 2013, Hangzhou, China
Place of PublicationOxford
PublisherPergamon
Pages530-536
DOIs
Publication statusPublished - 2013
Eventconference; IFAC Symposium on Mechatronic Systems; 2013-04-10; 2013-04-12 -
Duration: 10 Apr 201312 Apr 2013

Conference

Conferenceconference; IFAC Symposium on Mechatronic Systems; 2013-04-10; 2013-04-12
Period10/04/1312/04/13
OtherIFAC Symposium on Mechatronic Systems

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