H∞ loop shaping bilateral controller for a two-fingered tele-micromanipulation system : Dynamics and control of micro- and nanoscale systems
Identifieur interne : 005A00 ( Main/Exploration ); précédent : 005999; suivant : 005A01H∞ loop shaping bilateral controller for a two-fingered tele-micromanipulation system : Dynamics and control of micro- and nanoscale systems
Auteurs : Moussa Boukhnifer [France] ; Antoine Ferreira [France]Source :
- IEEE transactions on control systems technology [ 1063-6536 ] ; 2007.
Descripteurs français
- Pascal (Inist)
- Système MIMO, Synthèse commande, Rétroaction, Commande robuste, Commande H infini, Robustesse, Système incertain, Bilatéral, Doigt, Micromanipulation, Internet, Système asservi, Sensibilité tactile, Temps retard, Facteur échelle, Effet dimensionnel, Ligne retard, Modélisation, Etude expérimentale, Modelage de boucle.
English descriptors
- KwdEn :
Abstract
-Recent developments on micromanipulation and internet technologies allow potential impacts on networked microautomation of small industrial products. However, reliable and efficient microteleoperation systems with haptic feedback over the internet face strong problems due to microenvironment variations, the scaling effect problem between worlds with different physical characteristics, and time delays in communication lines. Taking into account these constraints, a force-reflecting macro-mi-croteleoperator controller is designed based on the framework H∞ loop-shaping procedure approach. This approach allows a convenient way to tradeoff the robustness for a prespecified time delay margin, variation of force scaling factors, and uncertainties in environment models. The experimental results clearly show that the proposed approach ensures the stability robustness against time delays and scaling factors.
Affiliations:
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Le document en format XML
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i1="01"><s1>Laboratoire Vision et Robotique, ENSI Bourges-University of Orléans</s1><s2>18000 Bourges</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Centre-Val de Loire</region><region type="old region" nuts="2">Région Centre</region><settlement type="city">Bourges</settlement></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">08-0008004</idno><date when="2007">2007</date><idno type="stanalyst">PASCAL 08-0008004 INIST</idno><idno type="RBID">Pascal:08-0008004</idno><idno type="wicri:Area/PascalFrancis/Corpus">000A33</idno><idno type="wicri:Area/PascalFrancis/Curation">000A28</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000824</idno><idno type="wicri:doubleKey">1063-6536:2007:Boukhnifer M:h:loop:shaping</idno><idno type="wicri:Area/Main/Merge">005B96</idno><idno type="wicri:Area/Main/Curation">005A00</idno><idno 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Ferreira</name><affiliation wicri:level="3"><inist:fA14 i1="01"><s1>Laboratoire Vision et Robotique, ENSI Bourges-University of Orléans</s1><s2>18000 Bourges</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Centre-Val de Loire</region><region type="old region" nuts="2">Région Centre</region><settlement type="city">Bourges</settlement></placeName></affiliation></author></analytic><series><title level="j" type="main">IEEE transactions on control systems technology</title><title level="j" type="abbreviated">IEEE trans. control syst. technol.</title><idno type="ISSN">1063-6536</idno><imprint><date when="2007">2007</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">IEEE transactions on control systems technology</title><title level="j" type="abbreviated">IEEE trans. control syst. technol.</title><idno type="ISSN">1063-6536</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Bilateral</term><term>Control synthesis</term><term>Delay line</term><term>Delay time</term><term>Experimental study</term><term>Feedback regulation</term><term>Feedback system</term><term>Finger</term><term>H infinite control</term><term>Internet</term><term>Loop shaping</term><term>MIMO system</term><term>Micromanipulation</term><term>Modeling</term><term>Robust control</term><term>Robustness</term><term>Scale factor</term><term>Size effect</term><term>Tactile sensitivity</term><term>Uncertain system</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Système MIMO</term><term>Synthèse commande</term><term>Rétroaction</term><term>Commande robuste</term><term>Commande H infini</term><term>Robustesse</term><term>Système incertain</term><term>Bilatéral</term><term>Doigt</term><term>Micromanipulation</term><term>Internet</term><term>Système asservi</term><term>Sensibilité tactile</term><term>Temps retard</term><term>Facteur échelle</term><term>Effet dimensionnel</term><term>Ligne retard</term><term>Modélisation</term><term>Etude expérimentale</term><term>Modelage de boucle</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">-Recent developments on micromanipulation and internet technologies allow potential impacts on networked microautomation of small industrial products. However, reliable and efficient microteleoperation systems with haptic feedback over the internet face strong problems due to microenvironment variations, the scaling effect problem between worlds with different physical characteristics, and time delays in communication lines. Taking into account these constraints, a force-reflecting macro-mi-croteleoperator controller is designed based on the framework H∞ loop-shaping procedure approach. This approach allows a convenient way to tradeoff the robustness for a prespecified time delay margin, variation of force scaling factors, and uncertainties in environment models. The experimental results clearly show that the proposed approach ensures the stability robustness against time delays and scaling factors.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Centre-Val de Loire</li><li>Région Centre</li></region><settlement><li>Bourges</li></settlement></list><tree><country name="France"><region name="Centre-Val de Loire"><name sortKey="Boukhnifer, Moussa" sort="Boukhnifer, Moussa" uniqKey="Boukhnifer M" first="Moussa" last="Boukhnifer">Moussa Boukhnifer</name></region><name sortKey="Ferreira, Antoine" sort="Ferreira, Antoine" uniqKey="Ferreira A" first="Antoine" last="Ferreira">Antoine Ferreira</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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