By Topic

Robust variable-scale bilateral control for micro teleoperation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Vander Poorten, E. ; Dept. of Mech. & Eng. Sci., Kyoto Univ., Kyoto ; Kanno, T. ; Yokokohji, Y.

This paper discusses variable-scale bilateral control for micro teleoperation. A method is proposed to synthesize robust variable-scale controllers that guarantee system stability and realize robust performance in contact with any arbitrary, but passive, operator and environment. The proposed method is based on the formulation as a robust output feedback constant scaled Hinfin problem. A variable scaled teleoperation system appears as a polytopic linear parameter-varying (LPV) plant, with an afflne relation on the scale factors. Gain-scheduling is used to derive robust stable time-variant Hinfin controllers for online variable scaling. Improved controller performance is obtained through the introduction of an afflne and scheduled- parameter-dependent weighting. The controller synthesis problem is formulated as a set of linear matrix inequalities (LMI's) augmented with a nonconvex rank condition. An efficient algorithm is constructed to synthesize a set of sub-optimal controllers over the parameter space. The validity of the proposed methods are confirmed experimentally.

Published in:

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Date of Conference:

19-23 May 2008