Switching robust control synthesis for teleoperation via dwell time conditions

C.A. López Martínez; M.J.G. van de Molengraft; M. Steinbuch

doi:10.1007/978-3-662-44196-1_20

Switching robust control synthesis for teleoperation via dwell time conditions

C.A. López Martínez, M.J.G. van de Molengraft, M. Steinbuch

Control Systems Technology

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

Abstract

Control design for bilateral teleoperation is still an open problem, given that it is desirable to meet a proper balance in the inherent trade-off between transparency and stability. We propose the use of switching robust control, in which smooth switching among controllers is achieved by the existence of multiple Lyapunov functions with a special structure, linked by conditions of maximum average dwell time switching among controllers. We show the advantage of the proposed method by means of a control design synthesis for an 1-DoF teleoperation system, and by means of simulations of the corresponding closed loop system.

Original language	English
Title of host publication	Haptics: Neuroscience, Devices, Modeling, and Applications
Subtitle of host publication	9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II
Editors	M. Auvray, C. Duriez
Place of Publication	Dordrecht
Publisher	Springer
Pages	158-166
Number of pages	9
ISBN (Electronic)	978-3-662-44195-4
ISBN (Print)	978-3-662-44196-1
DOIs	https://doi.org/10.1007/978-3-662-44196-1_20
Publication status	Published - 2014
Event	9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014 - Versailles, France Duration: 24 Jun 2014 → 26 Jun 2014 Conference number: 9 https://eurohaptics2014.limsi.fr/

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	8619
ISSN (Print)	03029743
ISSN (Electronic)	16113349

Conference

Conference	9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014
Abbreviated title	Eurohaptics 2014
Country/Territory	France
City	Versailles
Period	24/06/14 → 26/06/14
Internet address	https://eurohaptics2014.limsi.fr/

Keywords

Bilateral teleoperation
Control system synthesis
Dwell time
Linear matrix inequalities
Switching robust control

Access to Document

10.1007/978-3-662-44196-1_20

Cite this

López Martínez, C. A., van de Molengraft, M. J. G., & Steinbuch, M. (2014). Switching robust control synthesis for teleoperation via dwell time conditions. In M. Auvray, & C. Duriez (Eds.), Haptics: Neuroscience, Devices, Modeling, and Applications: 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II (pp. 158-166). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8619). Springer. https://doi.org/10.1007/978-3-662-44196-1_20

López Martínez, C.A. ; van de Molengraft, M.J.G. ; Steinbuch, M. / Switching robust control synthesis for teleoperation via dwell time conditions. Haptics: Neuroscience, Devices, Modeling, and Applications: 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II. editor / M. Auvray ; C. Duriez. Dordrecht : Springer, 2014. pp. 158-166 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{822335f8e1b24ed5837d71a99b4296da,

title = "Switching robust control synthesis for teleoperation via dwell time conditions",

abstract = "Control design for bilateral teleoperation is still an open problem, given that it is desirable to meet a proper balance in the inherent trade-off between transparency and stability. We propose the use of switching robust control, in which smooth switching among controllers is achieved by the existence of multiple Lyapunov functions with a special structure, linked by conditions of maximum average dwell time switching among controllers. We show the advantage of the proposed method by means of a control design synthesis for an 1-DoF teleoperation system, and by means of simulations of the corresponding closed loop system.",

keywords = "Bilateral teleoperation, Control system synthesis, Dwell time, Linear matrix inequalities, Switching robust control",

author = "{L{\'o}pez Mart{\'i}nez}, C.A. and {van de Molengraft}, M.J.G. and M. Steinbuch",

year = "2014",

doi = "10.1007/978-3-662-44196-1_20",

language = "English",

isbn = "978-3-662-44196-1",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer",

pages = "158--166",

editor = "M. Auvray and C. Duriez",

booktitle = "Haptics: Neuroscience, Devices, Modeling, and Applications",

note = "9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014, Eurohaptics 2014 ; Conference date: 24-06-2014 Through 26-06-2014",

url = "https://eurohaptics2014.limsi.fr/",

}

López Martínez, CA , van de Molengraft, MJG & Steinbuch, M 2014, Switching robust control synthesis for teleoperation via dwell time conditions. in M Auvray & C Duriez (eds), Haptics: Neuroscience, Devices, Modeling, and Applications: 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 8619, Springer, Dordrecht, pp. 158-166, 9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014, Versailles, France, 24/06/14. https://doi.org/10.1007/978-3-662-44196-1_20

Switching robust control synthesis for teleoperation via dwell time conditions. / López Martínez, C.A.; van de Molengraft, M.J.G.; Steinbuch, M.
Haptics: Neuroscience, Devices, Modeling, and Applications: 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II. ed. / M. Auvray; C. Duriez. Dordrecht: Springer, 2014. p. 158-166 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8619).

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

TY - GEN

T1 - Switching robust control synthesis for teleoperation via dwell time conditions

AU - López Martínez, C.A.

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

AU - Steinbuch, M.

N1 - Conference code: 9

PY - 2014

Y1 - 2014

N2 - Control design for bilateral teleoperation is still an open problem, given that it is desirable to meet a proper balance in the inherent trade-off between transparency and stability. We propose the use of switching robust control, in which smooth switching among controllers is achieved by the existence of multiple Lyapunov functions with a special structure, linked by conditions of maximum average dwell time switching among controllers. We show the advantage of the proposed method by means of a control design synthesis for an 1-DoF teleoperation system, and by means of simulations of the corresponding closed loop system.

AB - Control design for bilateral teleoperation is still an open problem, given that it is desirable to meet a proper balance in the inherent trade-off between transparency and stability. We propose the use of switching robust control, in which smooth switching among controllers is achieved by the existence of multiple Lyapunov functions with a special structure, linked by conditions of maximum average dwell time switching among controllers. We show the advantage of the proposed method by means of a control design synthesis for an 1-DoF teleoperation system, and by means of simulations of the corresponding closed loop system.

KW - Bilateral teleoperation

KW - Control system synthesis

KW - Dwell time

KW - Linear matrix inequalities

KW - Switching robust control

UR - http://www.scopus.com/inward/record.url?scp=84910148005&partnerID=8YFLogxK

U2 - 10.1007/978-3-662-44196-1_20

DO - 10.1007/978-3-662-44196-1_20

M3 - Conference contribution

AN - SCOPUS:84910148005

SN - 978-3-662-44196-1

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 158

EP - 166

BT - Haptics: Neuroscience, Devices, Modeling, and Applications

A2 - Auvray, M.

A2 - Duriez, C.

PB - Springer

CY - Dordrecht

T2 - 9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014

Y2 - 24 June 2014 through 26 June 2014

ER -

López Martínez CA , van de Molengraft MJG , Steinbuch M. Switching robust control synthesis for teleoperation via dwell time conditions. In Auvray M, Duriez C, editors, Haptics: Neuroscience, Devices, Modeling, and Applications: 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II. Dordrecht: Springer. 2014. p. 158-166. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-662-44196-1_20

Switching robust control synthesis for teleoperation via dwell time conditions

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this