Formulation of transparency in bilateral teleoperation systems: A robust approach

Author

Salimifar, M. ; Taghirad, H.D. ; Fallahi, B.

Author_Institution

K.N. Toosi Univ. of Technol., Tehran, Iran

fYear

2013

fDate

28-30 Dec. 2013

Firstpage

22

Lastpage

27

Abstract

This paper presents a robust structure to optimize transparency in bilateral teleoperation systems. The system is assumed to be linear, with constant but uncertain time delay in communication channel. Benefiting from small gain theorem and by using optimal H₂/H_∞ solution of the formulated problem, stability of the delayed system is guaranteed, while the transparency of the bilateral teleoperation system has been reached to a desired level. Simulation results show the effectiveness of the proposed formulation and its solution for a case study.

Keywords

H^∞ control; H² control; delay systems; robust control; uncertain systems; bilateral teleoperation systems; communication channel; delayed system stability; optimal H₂-H_∞ solution; robust structure; small gain theorem; transparency formulation; uncertain time delay; Delay effects; Force; Impedance; Robustness; Stability analysis; Transfer functions; Uncertainty; H2/H∞ optimization; robust formulation; teleoperation; transparency;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Instrumentation, and Automation (ICCIA), 2013 3rd International Conference on

Conference_Location

Tehran

Type

conf

DOI

10.1109/ICCIAutom.2013.6912803

Filename

6912803