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Guaranteed cost control design for delayed teleoperation systems

Li, Yuling; Johansson, Rolf LU ; Liu, Kun and Yin, Yixin (2015) In Journal of the Franklin Institute 352(11). p.5085-5105
Abstract
A procedure for guaranteed cost control design of delayed linear bilateral teleoperation systems with nonlinear external forces is proposed. The assumption that the external forces are nonlinear functions of velocities and/or positions of local devices, and one part of these forces satisfies a sector condition has been made. A virtual tool system is introduced to 'observe' the forces at the remote sides, the position and velocity information of the master, the slave and the virtual tool are feedbacked to the controllers, hence the proposed control scheme actually has a four-channel architecture. A delay-dependent stability criterion is formulated, and then a sub-optimal guaranteed cost controller is obtained by solving a convex... (More)
A procedure for guaranteed cost control design of delayed linear bilateral teleoperation systems with nonlinear external forces is proposed. The assumption that the external forces are nonlinear functions of velocities and/or positions of local devices, and one part of these forces satisfies a sector condition has been made. A virtual tool system is introduced to 'observe' the forces at the remote sides, the position and velocity information of the master, the slave and the virtual tool are feedbacked to the controllers, hence the proposed control scheme actually has a four-channel architecture. A delay-dependent stability criterion is formulated, and then a sub-optimal guaranteed cost controller is obtained by solving a convex optimization problem in the form of linear matrix inequalities (LMIs). The behavior of the resulting teleoperation system is illustrated in simulations. (C) 2015 The Franklin Institute. Published by Elsevier Ltd. All rights reserved. (Less)
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
in
Journal of the Franklin Institute
volume
352
issue
11
pages
5085 - 5105
publisher
Elsevier
external identifiers
  • wos:000364889500021
  • scopus:84946472588
ISSN
0016-0032
DOI
10.1016/j.jfranklin.2015.08.011
language
English
LU publication?
yes
id
c458d681-765d-45e3-b6fb-4177fb845dca (old id 8539734)
date added to LUP
2016-01-20 12:08:46
date last changed
2017-06-18 18:53:58
@article{c458d681-765d-45e3-b6fb-4177fb845dca,
  abstract     = {A procedure for guaranteed cost control design of delayed linear bilateral teleoperation systems with nonlinear external forces is proposed. The assumption that the external forces are nonlinear functions of velocities and/or positions of local devices, and one part of these forces satisfies a sector condition has been made. A virtual tool system is introduced to 'observe' the forces at the remote sides, the position and velocity information of the master, the slave and the virtual tool are feedbacked to the controllers, hence the proposed control scheme actually has a four-channel architecture. A delay-dependent stability criterion is formulated, and then a sub-optimal guaranteed cost controller is obtained by solving a convex optimization problem in the form of linear matrix inequalities (LMIs). The behavior of the resulting teleoperation system is illustrated in simulations. (C) 2015 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.},
  author       = {Li, Yuling and Johansson, Rolf and Liu, Kun and Yin, Yixin},
  issn         = {0016-0032},
  language     = {eng},
  number       = {11},
  pages        = {5085--5105},
  publisher    = {Elsevier},
  series       = {Journal of the Franklin Institute},
  title        = {Guaranteed cost control design for delayed teleoperation systems},
  url          = {http://dx.doi.org/10.1016/j.jfranklin.2015.08.011},
  volume       = {352},
  year         = {2015},
}