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Control gain design for bilateral teleoperation systems using linear matrix inequalities

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3 Author(s)
Kevin Walker ; Electrical and Computer Engineering, Dalhousie University, Halifax, Nova Scotia, Canada B3J 1Z1 ; Ya-Jun Pan ; Jason Gu

The application of LMI methods to teleoperation with a bounded communication delay is considered. A method to design a state and force feedback controller that guarantees the stability of the system with bounded error related to the rate of change of the operator's and environment's exerted force is derived. A numerical example is considered and the means of choosing the design parameters introduced in the derivation are demonstrated. A trade-off between position and force fidelity is outlined, whereby the controller gain could be computed offline and used to adjust the controllers in real-time to suit the current task. The performance is demonstrated, showing the stability of the system.

Published in:

2007 IEEE International Conference on Systems, Man and Cybernetics

Date of Conference:

7-10 Oct. 2007