Controller realizations of a teleoperated dual-wrist assembly system with finite word length considerations

This paper presents some implementation issues of finite-precision optimal and quasi-optimal sparse H_∞ controller structures applied to a teleoperated dual-wrist assembly system. The relevant stability robustness measures and the optimization search procedures for both the optimal and the quasi-optimal sparse finite word length (FWL) controller realizations are described. Comparative analytical and numerical results show that the sparse FWL controller realizations provide minimum bit lengths, with maximum trivial elements in the controller coefficients and higher stability bounds compared to non-optimal realization. The results illustrate that the FWL methodology presented provides better implementation structures, increased computational speed and FWL stability for teleoperated motion-scaling control systems