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On the H2 Decentralized Controller Synthesis for Delayed Bilateral Teleoperation Systems

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Author

  • Jang Ho Cho
  • Maxim Kristalny

Summary, in English

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.

Publishing year

2012

Language

English

Pages

393-398

Publication/Series

10th IFAC Symposium on Robot Control

Document type

Conference paper

Publisher

IFAC

Topic

  • Control Engineering

Conference name

10th International IFAC Symposium on Robot Control

Conference date

2012-09-05

Conference place

Dubrovnik, Croatia

Status

Published

Project

  • LCCC

Research group

  • LCCC

ISBN/ISSN/Other

  • ISSN: 1474-6670
  • ISBN: 978-3-902823-11-3