Switching robust control synthesis for teleoperation via dwell time conditions

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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 languageEnglish
Title of host publicationHaptics: Neuroscience, Devices, Modeling, and Applications
Subtitle of host publication9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II
EditorsM. Auvray, C. Duriez
Place of PublicationDordrecht
PublisherSpringer
Pages158-166
Number of pages9
ISBN (Electronic)978-3-662-44195-4
ISBN (Print)978-3-662-44196-1
DOIs
Publication statusPublished - 2014
Event9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications (EuroHaptics 2014) - Versailles, France
Duration: 24 Jun 201426 Jun 2014
Conference number: 9
https://eurohaptics2014.limsi.fr/

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8619
ISSN (Print)03029743
ISSN (Electronic)16113349

Conference

Conference9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications (EuroHaptics 2014)
Abbreviated titleEurohaptics 2014
CountryFrance
CityVersailles
Period24/06/1426/06/14
Internet address

Keywords

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

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  • 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