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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/8539734
- author
- Li, Yuling
; Johansson, Rolf
LU
; Liu, Kun
and Yin, Yixin
- organization
- publishing date
- 2015
- 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
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- c458d681-765d-45e3-b6fb-4177fb845dca (old id 8539734)
- date added to LUP
- 2016-04-01 14:52:00
- date last changed
- 2023-03-28 06:35:26
@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}},
doi = {{10.1016/j.jfranklin.2015.08.011}},
volume = {{352}},
year = {{2015}},
}