HapticV1, PascalFrancis, Corpus, bibRecord, 000C30

H2 optimal controller design for micro-teleoperation with delay

Identifieur interne : 000C30 ( PascalFrancis/Corpus ); précédent : 000C29; suivant : 000C31

H2 optimal controller design for micro-teleoperation with delay

Auteurs : Moussa Boukhnifer ; Antoine Ferreira

Source :

RBID : Pascal:06-0493173

Descripteurs français

Pascal (Inist)
- Téléopération, Approximation Padé, Valeur singulière structurée, Temps retard, Commande optimale, Synthèse commande, Opérateur humain, Sensibilité tactile, Conception optimale, Système à retard, Système paramètre variable, Commande H2, Commande robuste, Contrôle optimal, Internet, Micro-téléopération.

English descriptors

KwdEn :
- Control synthesis, Delay system, Delay time, H2 control, Human operator, Internet, Optimal control, Optimal control (mathematics), Optimal design, Padé approximation, Remote operation, Robust control, Structured singular value, Tactile sensitivity, Time varying system.

Abstract

This study alms to develop a force-reflecting macro-micro teleoperator with different scaled worlds. A bilateral control system for scaled teleoperation provides the human operator with a feel of the task at the micro-scale. However, reliable and efficient tele-micromanlpulation systems with haptic feedback over the Internet face to strong problems due to the nonlinear nature of microenvironment and time-varying delays In communication lines. A robust bilateral controller design framework using H₂-optimal control approach is proposed. A comparative study for assessing the robustness against time-varying delays is performed through two different designs, i.e., a μ-synthesis framework and a Padé approximation. The proposed approaches allow a convenient means to tradeoff the robustness for a pre-specified time-delay margin. The validity of the proposed method is demonstrated by simulations.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 H₂ optimal controller design for micro-teleoperation with delay`
A09	`01`	`1`	`ENG`	`@1 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 28 September - 2 October, 2004, Sendai, Japan : proceedings`
A11	`01`	`1`		`@1 BOUKHNIFER (Moussa)`
A11	`02`	`1`		`@1 FERREIRA (Antoine)`
A14	`01`			`@1 Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle @2 18020 Bourges @3 FRA @Z 1 aut. @Z 2 aut.`
A18	`01`	`1`		`@1 Institute of Electrical and Electronics Engineers @3 USA @9 org-cong.`
A18	`02`	`1`		`@1 Robotics Society of Japan @3 JPN @9 org-cong.`
A18	`03`	`1`		`@1 IEEE Robotics and Automation Society @3 USA @9 org-cong.`
A20				`@2 vol 1, 224-229`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8463-6`
A30	`01`	`1`	`ENG`	`@1 IEEE/RSJ International Conference on Intelligent Robots and Systems @3 Sendai JPN @4 2004`
A43	`01`			`@1 INIST @2 Y 38917 @5 354000153490960370`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 12 ref.`
A47	`01`	`1`		`@0 06-0493173`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 This study alms to develop a force-reflecting macro-micro teleoperator with different scaled worlds. A bilateral control system for scaled teleoperation provides the human operator with a feel of the task at the micro-scale. However, reliable and efficient tele-micromanlpulation systems with haptic feedback over the Internet face to strong problems due to the nonlinear nature of microenvironment and time-varying delays In communication lines. A robust bilateral controller design framework using H₂-optimal control approach is proposed. A comparative study for assessing the robustness against time-varying delays is performed through two different designs, i.e., a μ-synthesis framework and a Padé approximation. The proposed approaches allow a convenient means to tradeoff the robustness for a pre-specified time-delay margin. The validity of the proposed method is demonstrated by simulations.
C02	`01`	`X`		`@0 001D02D11`
C02	`02`	`X`		`@0 001D02B06`
C02	`03`	`X`		`@0 001D02D08`
C03	`01`	`X`	`FRE`	`@0 Téléopération @5 01`
C03	`01`	`X`	`ENG`	`@0 Remote operation @5 01`
C03	`01`	`X`	`SPA`	`@0 Teleacción @5 01`
C03	`02`	`X`	`FRE`	`@0 Approximation Padé @5 02`
C03	`02`	`X`	`ENG`	`@0 Padé approximation @5 02`
C03	`02`	`X`	`SPA`	`@0 Aproximación Pade @5 02`
C03	`03`	`X`	`FRE`	`@0 Valeur singulière structurée @5 03`
C03	`03`	`X`	`ENG`	`@0 Structured singular value @5 03`
C03	`03`	`X`	`SPA`	`@0 Valor singular estructurada @5 03`
C03	`04`	`X`	`FRE`	`@0 Optimisation H² @5 04`
C03	`04`	`X`	`ENG`	`@0 H² optimization @5 04`
C03	`04`	`X`	`SPA`	`@0 Optimización H² @5 04`
C03	`05`	`X`	`FRE`	`@0 Temps retard @5 05`
C03	`05`	`X`	`ENG`	`@0 Delay time @5 05`
C03	`05`	`X`	`SPA`	`@0 Tiempo retardo @5 05`
C03	`06`	`X`	`FRE`	`@0 Commande optimale @5 06`
C03	`06`	`X`	`ENG`	`@0 Optimal control @5 06`
C03	`06`	`X`	`SPA`	`@0 Control óptimo @5 06`
C03	`07`	`X`	`FRE`	`@0 Synthèse commande @5 07`
C03	`07`	`X`	`ENG`	`@0 Control synthesis @5 07`
C03	`07`	`X`	`SPA`	`@0 Síntesis control @5 07`
C03	`08`	`X`	`FRE`	`@0 Opérateur humain @5 08`
C03	`08`	`X`	`ENG`	`@0 Human operator @5 08`
C03	`08`	`X`	`SPA`	`@0 Operador humano @5 08`
C03	`09`	`X`	`FRE`	`@0 Sensibilité tactile @5 09`
C03	`09`	`X`	`ENG`	`@0 Tactile sensitivity @5 09`
C03	`09`	`X`	`SPA`	`@0 Sensibilidad tactil @5 09`
C03	`10`	`X`	`FRE`	`@0 Conception optimale @5 10`
C03	`10`	`X`	`ENG`	`@0 Optimal design @5 10`
C03	`10`	`X`	`SPA`	`@0 Concepción optimal @5 10`
C03	`11`	`X`	`FRE`	`@0 Système à retard @5 11`
C03	`11`	`X`	`ENG`	`@0 Delay system @5 11`
C03	`11`	`X`	`SPA`	`@0 Sistema con retardo @5 11`
C03	`12`	`X`	`FRE`	`@0 Système paramètre variable @5 12`
C03	`12`	`X`	`ENG`	`@0 Time varying system @5 12`
C03	`12`	`X`	`SPA`	`@0 Sistema parámetro variable @5 12`
C03	`13`	`X`	`FRE`	`@0 Commande H2 @5 13`
C03	`13`	`X`	`ENG`	`@0 H2 control @5 13`
C03	`13`	`X`	`SPA`	`@0 Control H2 @5 13`
C03	`14`	`X`	`FRE`	`@0 Commande robuste @5 14`
C03	`14`	`X`	`ENG`	`@0 Robust control @5 14`
C03	`14`	`X`	`SPA`	`@0 Control robusta @5 14`
C03	`15`	`X`	`FRE`	`@0 Contrôle optimal @5 15`
C03	`15`	`X`	`ENG`	`@0 Optimal control (mathematics) @5 15`
C03	`15`	`X`	`SPA`	`@0 Control óptimo (matemáticas) @5 15`
C03	`16`	`X`	`FRE`	`@0 Internet @5 16`
C03	`16`	`X`	`ENG`	`@0 Internet @5 16`
C03	`16`	`X`	`SPA`	`@0 Internet @5 16`
C03	`17`	`X`	`FRE`	`@0 Micro-téléopération @4 INC @5 82`
N21				`@1 324`
N44	`01`			`@1 PSI`
N82				`@1 PSI`

Format Inist (serveur)

NO :	PASCAL 06-0493173 INIST
ET :	H₂ optimal controller design for micro-teleoperation with delay
AU :	BOUKHNIFER (Moussa); FERREIRA (Antoine)
AF :	Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle/18020 Bourges/France (1 aut., 2 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE/RSJ International Conference on Intelligent Robots and Systems/2004/Sendai JPN; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; vol 1, 224-229; ISBN 0-7803-8463-6
LA :	Anglais
EA :	This study alms to develop a force-reflecting macro-micro teleoperator with different scaled worlds. A bilateral control system for scaled teleoperation provides the human operator with a feel of the task at the micro-scale. However, reliable and efficient tele-micromanlpulation systems with haptic feedback over the Internet face to strong problems due to the nonlinear nature of microenvironment and time-varying delays In communication lines. A robust bilateral controller design framework using H₂-optimal control approach is proposed. A comparative study for assessing the robustness against time-varying delays is performed through two different designs, i.e., a μ-synthesis framework and a Padé approximation. The proposed approaches allow a convenient means to tradeoff the robustness for a pre-specified time-delay margin. The validity of the proposed method is demonstrated by simulations.
CC :	001D02D11; 001D02B06; 001D02D08
FD :	Téléopération; Approximation Padé; Valeur singulière structurée; Optimisation H²; Temps retard; Commande optimale; Synthèse commande; Opérateur humain; Sensibilité tactile; Conception optimale; Système à retard; Système paramètre variable; Commande H2; Commande robuste; Contrôle optimal; Internet; Micro-téléopération
ED :	Remote operation; Padé approximation; Structured singular value; H² optimization; Delay time; Optimal control; Control synthesis; Human operator; Tactile sensitivity; Optimal design; Delay system; Time varying system; H2 control; Robust control; Optimal control (mathematics); Internet
SD :	Teleacción; Aproximación Pade; Valor singular estructurada; Optimización H²; Tiempo retardo; Control óptimo; Síntesis control; Operador humano; Sensibilidad tactil; Concepción optimal; Sistema con retardo; Sistema parámetro variable; Control H2; Control robusta; Control óptimo (matemáticas); Internet
LO :	INIST-Y 38917.354000153490960370
ID :	06-0493173

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Pascal:06-0493173

Le document en format XML

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 optimal controller design for micro-teleoperation with delay</title>
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 optimal controller design for micro-teleoperation with delay</title>
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<front><div type="abstract" xml:lang="en">This study alms to develop a force-reflecting macro-micro teleoperator with different scaled worlds. A bilateral control system for scaled teleoperation provides the human operator with a feel of the task at the micro-scale. However, reliable and efficient tele-micromanlpulation systems with haptic feedback over the Internet face to strong problems due to the nonlinear nature of microenvironment and time-varying delays In communication lines. A robust bilateral controller design framework using H<sub>2</sub>
-optimal control approach is proposed. A comparative study for assessing the robustness against time-varying delays is performed through two different designs, i.e., a μ-synthesis framework and a Padé approximation. The proposed approaches allow a convenient means to tradeoff the robustness for a pre-specified time-delay margin. The validity of the proposed method is demonstrated by simulations.</div>
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<fC01 i1="01" l="ENG"><s0>This study alms to develop a force-reflecting macro-micro teleoperator with different scaled worlds. A bilateral control system for scaled teleoperation provides the human operator with a feel of the task at the micro-scale. However, reliable and efficient tele-micromanlpulation systems with haptic feedback over the Internet face to strong problems due to the nonlinear nature of microenvironment and time-varying delays In communication lines. A robust bilateral controller design framework using H<sub>2</sub>
-optimal control approach is proposed. A comparative study for assessing the robustness against time-varying delays is performed through two different designs, i.e., a μ-synthesis framework and a Padé approximation. The proposed approaches allow a convenient means to tradeoff the robustness for a pre-specified time-delay margin. The validity of the proposed method is demonstrated by simulations.</s0>
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<fC02 i1="03" i2="X"><s0>001D02D08</s0>
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<s5>02</s5>
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<s5>02</s5>
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<fC03 i1="02" i2="X" l="SPA"><s0>Aproximación Pade</s0>
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<fC03 i1="03" i2="X" l="FRE"><s0>Valeur singulière structurée</s0>
<s5>03</s5>
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<fC03 i1="03" i2="X" l="ENG"><s0>Structured singular value</s0>
<s5>03</s5>
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<fC03 i1="03" i2="X" l="SPA"><s0>Valor singular estructurada</s0>
<s5>03</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Optimisation H<sup>2</sup>
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<s5>04</s5>
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<fC03 i1="04" i2="X" l="ENG"><s0>H<sup>2</sup>
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<s5>04</s5>
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<fC03 i1="04" i2="X" l="SPA"><s0>Optimización H<sup>2</sup>
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<s5>06</s5>
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<s5>06</s5>
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<s5>07</s5>
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<s5>07</s5>
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<s5>08</s5>
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<s5>08</s5>
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<s5>08</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>09</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>09</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>09</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Conception optimale</s0>
<s5>10</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Optimal design</s0>
<s5>10</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Concepción optimal</s0>
<s5>10</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Système à retard</s0>
<s5>11</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Delay system</s0>
<s5>11</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Sistema con retardo</s0>
<s5>11</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Système paramètre variable</s0>
<s5>12</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Time varying system</s0>
<s5>12</s5>
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<s5>12</s5>
</fC03>
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<s5>13</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>H2 control</s0>
<s5>13</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Control H2</s0>
<s5>13</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Commande robuste</s0>
<s5>14</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Robust control</s0>
<s5>14</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Control robusta</s0>
<s5>14</s5>
</fC03>
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<s5>15</s5>
</fC03>
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<s5>15</s5>
</fC03>
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<s5>15</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Internet</s0>
<s5>16</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Internet</s0>
<s5>16</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Internet</s0>
<s5>16</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Micro-téléopération</s0>
<s4>INC</s4>
<s5>82</s5>
</fC03>
<fN21><s1>324</s1>
</fN21>
<fN44 i1="01"><s1>PSI</s1>
</fN44>
<fN82><s1>PSI</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 06-0493173 INIST</NO>
<ET>H<sub>2</sub>
 optimal controller design for micro-teleoperation with delay</ET>
<AU>BOUKHNIFER (Moussa); FERREIRA (Antoine)</AU>
<AF>Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle/18020 Bourges/France (1 aut., 2 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IEEE/RSJ International Conference on Intelligent Robots and Systems/2004/Sendai JPN; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; vol 1, 224-229; ISBN 0-7803-8463-6</SO>
<LA>Anglais</LA>
<EA>This study alms to develop a force-reflecting macro-micro teleoperator with different scaled worlds. A bilateral control system for scaled teleoperation provides the human operator with a feel of the task at the micro-scale. However, reliable and efficient tele-micromanlpulation systems with haptic feedback over the Internet face to strong problems due to the nonlinear nature of microenvironment and time-varying delays In communication lines. A robust bilateral controller design framework using H<sub>2</sub>
-optimal control approach is proposed. A comparative study for assessing the robustness against time-varying delays is performed through two different designs, i.e., a μ-synthesis framework and a Padé approximation. The proposed approaches allow a convenient means to tradeoff the robustness for a pre-specified time-delay margin. The validity of the proposed method is demonstrated by simulations.</EA>
<CC>001D02D11; 001D02B06; 001D02D08</CC>
<FD>Téléopération; Approximation Padé; Valeur singulière structurée; Optimisation H<sup>2</sup>
; Temps retard; Commande optimale; Synthèse commande; Opérateur humain; Sensibilité tactile; Conception optimale; Système à retard; Système paramètre variable; Commande H2; Commande robuste; Contrôle optimal; Internet; Micro-téléopération</FD>
<ED>Remote operation; Padé approximation; Structured singular value; H<sup>2</sup>
 optimization; Delay time; Optimal control; Control synthesis; Human operator; Tactile sensitivity; Optimal design; Delay system; Time varying system; H2 control; Robust control; Optimal control (mathematics); Internet</ED>
<SD>Teleacción; Aproximación Pade; Valor singular estructurada; Optimización H<sup>2</sup>
; Tiempo retardo; Control óptimo; Síntesis control; Operador humano; Sensibilidad tactil; Concepción optimal; Sistema con retardo; Sistema parámetro variable; Control H2; Control robusta; Control óptimo (matemáticas); Internet</SD>
<LO>INIST-Y 38917.354000153490960370</LO>
<ID>06-0493173</ID>
</server>
</inist>
</record>

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H2 optimal controller design for micro-teleoperation with delay

H2 optimal controller design for micro-teleoperation with delay

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