Switching robust control synthesis for teleoperation via dwell time conditions

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer 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-2Engels
TitelHaptics: Neuroscience, Devices, Modeling, and Applications
Subtitel9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II
RedacteurenM. Auvray, C. Duriez
Plaats van productieDordrecht
UitgeverijSpringer
Pagina's158-166
Aantal pagina's9
ISBN van elektronische versie978-3-662-44195-4
ISBN van geprinte versie978-3-662-44196-1
DOI's
StatusGepubliceerd - 2014
Evenement9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications (EuroHaptics 2014) - Versailles, Frankrijk
Duur: 24 jun 201426 jun 2014
Congresnummer: 9
https://eurohaptics2014.limsi.fr/

Publicatie series

NaamLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8619
ISSN van geprinte versie03029743
ISSN van elektronische versie16113349

Congres

Congres9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications (EuroHaptics 2014)
Verkorte titelEurohaptics 2014
Land/RegioFrankrijk
StadVersailles
Periode24/06/1426/06/14
Internet adres

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