On the H2 Decentralized Controller Synthesis for Delayed Bilateral Teleoperation Systems
(2012) 10th International 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:
https://lup.lub.lu.se/record/3051744
- author
- Cho, Jang Ho LU and Kristalny, Maxim LU
- organization
- publishing date
- 2012
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 10th IFAC Symposium on Robot Control
- pages
- 393 - 398
- publisher
- IFAC
- conference name
- 10th International IFAC Symposium on Robot Control
- conference location
- Dubrovnik, Croatia
- conference dates
- 2012-09-05
- 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
- 2016-04-01 13:37:36
- date last changed
- 2024-01-24 13:12:17
@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}}, doi = {{10.3182/20120905-3-HR-2030.00167}}, year = {{2012}}, }