Title :
Hα control of a Teleoperation Drive-by-Wire System with Communication Time-Delay
Author_Institution :
Lab. d´´Automatique de Grenoble, Inst. Nat. Polytech. de Grenoble
Abstract :
An Halpha approach to robust control of bilateral teleoperation systems under communication time-delay is considered and applied on an experimental setup. Using a small gain approach an Halpha controller is first designed in the nominal case and a robust design is then proposed for any communication delay in the case of environment uncertainties. When delay independent stability cannot be achieved, a way to determine the maximal allowed time-delay is provided. Simulation and experimental results are provided.
Keywords :
Hinfin control; control system synthesis; delays; manipulators; optimal control; robust control; telerobotics; uncertain systems; Hinfin controller design; bilateral teleoperation drive-by-wire system; communication time-delay; delay independent stability; environment uncertainties; master manipulator; robust control; slave manipulator; Communication system control; Control systems; Delay effects; Humans; Impedance; Master-slave; Robust control; Stability; Uncertainty; Wheels;
Conference_Titel :
Control and Automation, 2006. MED '06. 14th Mediterranean Conference on
Conference_Location :
Ancona
Print_ISBN :
0-9786720-1-1
Electronic_ISBN :
0-9786720-0-3
DOI :
10.1109/MED.2006.328745
