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On the Decentralized H2 Optimal Control of Bilateral Teleoperation Systems with Time Delays

Kristalny, Maxim LU and Cho, Jang Ho LU (2012) 51st IEEE Conference on Decision and Control, 2012 In [Host publication title missing] p.6908-6914
Abstract
Decentralized control of bilateral teleoperation systems with time delays is considered within the H2 optimization framework. We demonstrate that the problem is quadratically invariant and can be split into two independent model matching optimizations with partial multiplicative delay. The recent loop shifting techniques for delayed systems control are used then to find a complete analytical solution. Explicit state-space formulae for the optimal controller are derived in terms of standard Riccati equations associated with the

centralized delay-free problem. It is shown that the resulting

optimal controller admits an elegant and easy to implement

structure.
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
[Host publication title missing]
pages
7 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
51st IEEE Conference on Decision and Control, 2012
external identifiers
  • wos:000327200407029
  • scopus:84874259676
ISSN
0191-2216
project
LCCC
language
English
LU publication?
yes
id
da9403bf-e5bd-4c74-8023-c9e6b31898bc (old id 3346741)
date added to LUP
2013-01-07 13:54:28
date last changed
2017-09-10 03:59:31
@inproceedings{da9403bf-e5bd-4c74-8023-c9e6b31898bc,
  abstract     = {Decentralized control of bilateral teleoperation systems with time delays is considered within the H2 optimization framework. We demonstrate that the problem is quadratically invariant and can be split into two independent model matching optimizations with partial multiplicative delay. The recent loop shifting techniques for delayed systems control are used then to find a complete analytical solution. Explicit state-space formulae for the optimal controller are derived in terms of standard Riccati equations associated with the<br/><br>
centralized delay-free problem. It is shown that the resulting<br/><br>
optimal controller admits an elegant and easy to implement<br/><br>
structure.},
  author       = {Kristalny, Maxim and Cho, Jang Ho},
  booktitle    = {[Host publication title missing]},
  issn         = {0191-2216},
  language     = {eng},
  pages        = {6908--6914},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {On the Decentralized H2 Optimal Control of Bilateral Teleoperation Systems with Time Delays},
  year         = {2012},
}