H2 optimal controller design for micro-teleoperation with delay
Identifieur interne : 000C30 ( PascalFrancis/Corpus ); précédent : 000C29; suivant : 000C31H2 optimal controller design for micro-teleoperation with delay
Auteurs : Moussa Boukhnifer ; Antoine FerreiraSource :
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 :
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.
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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 |
Links to Exploration step
Pascal:06-0493173Le document en format XML
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optimal controller design for micro-teleoperation with delay</title>
<author><name sortKey="Boukhnifer, Moussa" sort="Boukhnifer, Moussa" uniqKey="Boukhnifer M" first="Moussa" last="Boukhnifer">Moussa Boukhnifer</name>
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<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">H<sub>2</sub>
optimal controller design for micro-teleoperation with delay</title>
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<term>Internet</term>
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<term>Padé approximation</term>
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<term>Robust control</term>
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<term>Time varying system</term>
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<term>Approximation Padé</term>
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<term>Commande optimale</term>
<term>Synthèse commande</term>
<term>Opérateur humain</term>
<term>Sensibilité tactile</term>
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<term>Système à retard</term>
<term>Système paramètre variable</term>
<term>Commande H2</term>
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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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optimal controller design for micro-teleoperation with delay</s1>
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-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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<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>
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