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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

Samenvatting

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.

Originele taal-2	Engels
Titel	Haptics: Neuroscience, Devices, Modeling, and Applications
Subtitel	9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II
Redacteuren	M. Auvray, C. Duriez
Plaats van productie	Dordrecht
Uitgeverij	Springer
Pagina's	158-166
Aantal pagina's	9
ISBN van elektronische versie	978-3-662-44195-4
ISBN van geprinte versie	978-3-662-44196-1
DOI's	https://doi.org/10.1007/978-3-662-44196-1_20
Status	Gepubliceerd - 2014
Evenement	9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014 - Versailles, Frankrijk Duur: 24 jun. 2014 → 26 jun. 2014 Congresnummer: 9 https://eurohaptics2014.limsi.fr/

Publicatie series

Naam	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	8619
ISSN van geprinte versie	03029743
ISSN van elektronische versie	16113349

Congres

Congres	9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014
Verkorte titel	Eurohaptics 2014
Land/Regio	Frankrijk
Stad	Versailles
Periode	24/06/14 → 26/06/14
Internet adres	https://eurohaptics2014.limsi.fr/

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

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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 (editors), Haptics: Neuroscience, Devices, Modeling, and Applications: 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II (blz. 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. redacteur / M. Auvray ; C. Duriez. Dordrecht : Springer, 2014. blz. 158-166 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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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 (uitgave), 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, blz. 158-166, 9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014, Versailles, Frankrijk, 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. uitgave / M. Auvray; C. Duriez. Dordrecht: Springer, 2014. blz. 158-166 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8619).

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

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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.

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López Martínez CA , van de Molengraft MJG , Steinbuch M. Switching robust control synthesis for teleoperation via dwell time conditions. In Auvray M, Duriez C, redacteurs, Haptics: Neuroscience, Devices, Modeling, and Applications: 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II. Dordrecht: Springer. 2014. blz. 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

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