Title :
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
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;
Conference_Titel :
Control, Instrumentation, and Automation (ICCIA), 2013 3rd International Conference on
Conference_Location :
Tehran
DOI :
10.1109/ICCIAutom.2013.6912803
