Teleoperation controller design using hierarchical genetic algorithm

Hierarchical genetic algorithm (HGA) is formulated to design the H/sub /spl infin// controller for the teleoperation system used in microsurgery. Such a HGA is capable of searching the structure of the H/sub /spl infin// and its coefficients simultaneously. A multiple objective ranking scheme is also incorporated so that both the force and position transparency are optimized against any strictly passive environment.