Title :
Design of robust time delayed teleoperator control system
Author :
Lee, Sukhan ; Jeong, Kyuwon
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
A method for designing a robust time-delayed teleoperator control system based on H∞ optimization is presented. The proposed teleoperator control system deals with the robustness of teleoperation especially during the contact phase. In the approach phase where the slave end-effector is assumed to be in free space such that no significant modeling uncertainties are present, an optimal time-delayed teleoperator control system designed based on Smith´s principle may suffice. However, in the contact phase where the uncertainties of contact time and environmental dynamics are of major concern, a time-delayed teleoperator control system should be designed to be robust to modeling uncertainties. Here, we apply the H∞ methodology for the design of such a robust time-delayed teleoperator control system. Simulation results show the validity of the proposed method
Keywords :
H∞ control; H∞ optimisation; control system synthesis; delays; man-machine systems; robust control; telerobotics; H∞ optimization; Smith´s principle; modeling uncertainty; robust control; slave end-effector; time delayed teleoperator control system; Control system synthesis; Control systems; Delay effects; Delay systems; Design methodology; Design optimization; Optimal control; Robust control; Teleoperators; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407459
