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Optimal control design in teleoperation systems for reducing time-delay effects

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2 Author(s)
Ganjefar, S. ; Bu Ali Sina Univ., Hamedan ; Mir, M.

In this paper a new structure for teleoperation has been proposed. An optimal control has been designed in slave subsystem for reducing position error between master and slave. In this structure reference inputs are position and velocity of master and states are position and velocity of slave. The performance index in this structure contains tracking part and minimum effort. The effectiveness of the system is shown through the simulations.

Published in:

Control, Automation and Systems, 2007. ICCAS '07. International Conference on

Date of Conference:

17-20 Oct. 2007