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On the H2 Decentralized Controller Synthesis for Delayed Bilateral Teleoperation Systems

Cho, Jang Ho LU and Kristalny, Maxim LU (2012) 10th International IFAC Symposium on Robot Control In 10th IFAC Symposium on Robot Control p.393-398
Abstract
Procedure for the synthesis of decentralized controllers for delayed bilateral teleoperation systems is proposed, based on the analytical solution of a global H2 optimization. Explicit state-space formulae for the optimal controller are presented. The controller possesses a neat structure, which preserves closed-loop stability regardless of the delay length. The behavior of the resulting teleoperation system is illustrated in simulations and verified by experiments.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
10th IFAC Symposium on Robot Control
pages
393 - 398
publisher
IFAC
conference name
10th International IFAC Symposium on Robot Control
external identifiers
  • scopus:84881011398
ISSN
1474-6670
ISBN
978-3-902823-11-3
DOI
10.3182/20120905-3-HR-2030.00167
project
LCCC
language
English
LU publication?
yes
id
83e5169d-6187-4834-92d5-8aaa0d45e9bf (old id 3051744)
date added to LUP
2012-09-12 10:42:00
date last changed
2017-01-01 05:46:38
@inproceedings{83e5169d-6187-4834-92d5-8aaa0d45e9bf,
  abstract     = {Procedure for the synthesis of decentralized controllers for delayed bilateral teleoperation systems is proposed, based on the analytical solution of a global H2 optimization. Explicit state-space formulae for the optimal controller are presented. The controller possesses a neat structure, which preserves closed-loop stability regardless of the delay length. The behavior of the resulting teleoperation system is illustrated in simulations and verified by experiments.},
  author       = {Cho, Jang Ho and Kristalny, Maxim},
  booktitle    = {10th IFAC Symposium on Robot Control},
  isbn         = {978-3-902823-11-3},
  issn         = {1474-6670},
  language     = {eng},
  pages        = {393--398},
  publisher    = {IFAC},
  title        = {On the H2 Decentralized Controller Synthesis for Delayed Bilateral Teleoperation Systems},
  url          = {http://dx.doi.org/10.3182/20120905-3-HR-2030.00167},
  year         = {2012},
}