On the Decentralized H2 Optimal Control of Bilateral Teleoperation Systems with Time Delays
(2012) 51st IEEE Conference on Decision and Control, 2012 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:
https://lup.lub.lu.se/record/3346741
- author
- Kristalny, Maxim LU and Cho, Jang Ho LU
- organization
- publishing date
- 2012
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- [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
- conference location
- Maui, Hawaii, United States
- conference dates
- 2012-12-10 - 2012-12-13
- 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
- 2016-04-01 13:20:14
- date last changed
- 2024-01-24 08:59:45
@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}}, url = {{https://lup.lub.lu.se/search/files/3311219/3346742.pdf}}, year = {{2012}}, }