Title :
Optimal control design in teleoperation systems for reducing time-delay effects
Author :
Ganjefar, Soheil ; Mir, Masooud
Author_Institution :
Bu Ali Sina Univ., Hamedan
Abstract :
In this paper a new structure for teleoperation has been proposed. An optimal control has been designed in slave subsystem for reducing position error between master and slave. In this structure reference inputs are position and velocity of master and states are position and velocity of slave. The performance index in this structure contains tracking part and minimum effort. The effectiveness of the system is shown through the simulations.
Keywords :
control system synthesis; delay systems; optimal control; telerobotics; optimal control; position error; teleoperation systems; telerobotics; time-delay effects; Bandwidth; Control systems; Delay effects; Delay systems; Humans; Master-slave; Optimal control; Performance analysis; Propagation delay; State-space methods; Delay time; Optimal control; Teleoperation systems; tracking;
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
DOI :
10.1109/ICCAS.2007.4406772
