Teleoperation controller design using H/sub ∞/-optimization with application to motion-scaling

Yan, Joseph; Salcudean, Septimiu E.

doi:10.1109/87.491198

Cited by 152 publications

(64 citation statements)

References 24 publications

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“…In this example, m = 4, n = 10, l = 2, and q = 2, and hence it is a closed-loop system of order 14. The initial controller realization X 0 of C(z) has been given [20]. The corresponding closed-loop transition matrix A(X 0 ) is formed using (10), from which the eigenvalues and the eigenvectors of the ideal closed-loop system are computed.…”

Section: Discussion the Function G(x K)mentioning

confidence: 99%

See 1 more Smart Citation

A Search Algorithm for a Class of Optimal Finite-Precision Controller Realization Problems with Saddle Points

Wu¹,

Chen²,

Li³

et al. 2005

SIAM J. Control Optim.

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Abstract. With game theory, we review the optimal digital controller realization problems that maximize a finite word length (FWL) closed-loop stability measure. For a large class of these optimal FWL controller realization problems which have saddle points, a minimax-based search algorithm is derived for finding a global optimal solution. The algorithm consists of two stages. In the first stage, the closed form of a transformation set is constructed which contains global optimal solutions. In the second stage, a subgradient approach searches this transformation set to obtain a global optimal solution. This algorithm does not suffer from the usual drawbacks associated with using direct numerical optimization methods to tackle these FWL realization problems. Furthermore, for a small class of optimal FWL controller realization problems which have no saddle point, the proposed algorithm also provides useful information to help solve them.

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Section: Discussion the Function G(x K)mentioning

confidence: 99%

“…Based on Theorem 3, a two-stage algorithm is developed to find a saddle point of the optimal FWL controller realization problem (15). The first stage focuses the attention on solving the optimization problem (20) for k ∈ {1, . .…”

Section: Search Algorithmmentioning

confidence: 99%

A Search Algorithm for a Class of Optimal Finite-Precision Controller Realization Problems with Saddle Points

Wu¹,

Chen²,

Li³

et al. 2005

SIAM J. Control Optim.

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show abstract

“…While most wave variable teleoperation controllers are based on a twochannel architecture, the work in [11] considered using such transformations with a four-channel control architecture. Furthermore, Linear controllers based on the -synthesis H theories have been developed to achieve robust stability and enhanced performance in the presence of uncertainties in the system dynamics [12][13]. Used for teleoperation under long delays up to several seconds, predictive display-based controllers rely on accurate models of the task environment to provide the operator with a realistic delay-free simulated response of the remote manipulator and environment [14].…”

Section: Introductionmentioning

confidence: 99%

Stability analysis for Internet based teleoperated robot using prediction control

Cogălniceanu

Tang

et al. 2011

2011 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

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Abstract-The variable time delay and the packet loss degrade the performance of Internet based teleoperation system seriously, even make the system unstable. Building upon the results of our recent work in [1], a provably stable event-prediction based control strategy is proposed for variable delay teleoperation. A Path Governor(PG) at master site, Generalized Predictive Controller (GPC) at slave site and a model of variable delay within a predictive control frame work are used to improve the response transparence. A Sparse Multivariable Linear Regression (SMLR) algorithm is proposed to predict the next Round Trip Timedelay(RTT). According to the next RTT, the PG is designed to generate the future event which can be used to compute the robotic position that is the one when the command was transmitted to the slave robot. The GPC can generate the redundant control information to diminish the influence of the packet loss and the large time delay in the internet to the system. Finally, a Lypunov-based analysis of the performance and stability of the resulting system is presented. Experiment results with a wheeled robot teleoperation setup demonstrate that these strategies can dynamically compensate for the variable time delay and reduce the performance degradation induced by packet loss.

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“…This has necessitated investigating into methods to increase transparency without introducing instability. Several previous studies have sought out theoretical design methods for control parameters based on linear circuit theory [1,10] or linear robust control theory [4,16,30].…”

Section: Introductionmentioning

confidence: 99%

Time Domain Passivity Approach for Soft and Deformable Environments

Ryu

Kim²

2006

Journal of Control, Automation and Systems Engineering

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Recently proposed stable teleoperation control scheme, base on time domain passivity, is modified to remove several conservatisms. During unconstrained motion and contacting with soft and deformable environments, the two-port time domain passivity approach [21] was excessively dissipating energy even though it was stable without any energy dissipation. The main reason of this conservatism is on the fact that the time domain passivity controller does not include the external energy dissipation elements at the slave manipulator. The measured interaction force between slave and environment allow the time domain passivity observer to include the amount of energy dissipation of the slave manipulator to the monitored energy. With the modified passivity observer, reference energy following idea [24] is applied to satisfy the passivity condition. The feasibility of the developed methods is proved with experiments. Improved performance is obtained in unconstrained motion and contacting with a soft environment.

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Teleoperation controller design using H/sub ∞/-optimization with application to motion-scaling

Cited by 152 publications

References 24 publications

A Search Algorithm for a Class of Optimal Finite-Precision Controller Realization Problems with Saddle Points

A Search Algorithm for a Class of Optimal Finite-Precision Controller Realization Problems with Saddle Points

Stability analysis for Internet based teleoperated robot using prediction control

Time Domain Passivity Approach for Soft and Deformable Environments

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