Tracking improvement based on the Proxy ...
Type de document :
Communication dans un congrès avec actes
Titre :
Tracking improvement based on the Proxy control scheme for bilateral teleoperation system under time-varying delays
Auteur(s) :
Zhang, Bo [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Kruszewski, Alexandre [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Richard, Jean-Pierre [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Non-Asymptotic estimation for online systems [NON-A]
Centrale Lille
Systèmes Non Linéaires et à Retards [SyNeR]
Kruszewski, Alexandre [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Richard, Jean-Pierre [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Non-Asymptotic estimation for online systems [NON-A]
Centrale Lille
Titre de la manifestation scientifique :
16th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)
Ville :
Toulouse
Pays :
France
Date de début de la manifestation scientifique :
2011-09-05
Mot(s)-clé(s) en anglais :
H1 control theory
Lyapunov-Krasovskii functionals
communication delays
teleoperation system
the position/force tracking
Lyapunov-Krasovskii functionals
communication delays
teleoperation system
the position/force tracking
Discipline(s) HAL :
Sciences de l'ingénieur [physics]/Automatique / Robotique
Résumé en anglais : [en]
This paper addresses the problem of the position/force tracking in teleoperation system and proposes a haptic proxy control scheme. Compared to previous works, communication delays are assumed to be both time-varying and ...
Lire la suite >This paper addresses the problem of the position/force tracking in teleoperation system and proposes a haptic proxy control scheme. Compared to previous works, communication delays are assumed to be both time-varying and asymmetric, and the response of the synchronization and the transparency are improved. The control design is performed using Linear Matrix Inequality (LMI) optimization based on Lyapunov-Krasovskii functionals (LKF) and H1 control theory. With the designed controllers, the simulations of different working conditions, such as abrupt motion and wall contact, are performed and show the effectiveness of the proposed solution.Lire moins >
Lire la suite >This paper addresses the problem of the position/force tracking in teleoperation system and proposes a haptic proxy control scheme. Compared to previous works, communication delays are assumed to be both time-varying and asymmetric, and the response of the synchronization and the transparency are improved. The control design is performed using Linear Matrix Inequality (LMI) optimization based on Lyapunov-Krasovskii functionals (LKF) and H1 control theory. With the designed controllers, the simulations of different working conditions, such as abrupt motion and wall contact, are performed and show the effectiveness of the proposed solution.Lire moins >
Langue :
Anglais
Comité de lecture :
Oui
Audience :
Internationale
Vulgarisation :
Non
Collections :
Source :
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