HapticV1, Main, Exploration, bibRecordById, Pascal:06-0493173

H2 optimal controller design for micro-teleoperation with delay

Identifieur interne : 006C16 ( Main/Exploration ); précédent : 006C15; suivant : 006C17

H2 optimal controller design for micro-teleoperation with delay

Auteurs : Moussa Boukhnifer [France] ; Antoine Ferreira [France]

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.

Affiliations:

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 000C30
to stream PascalFrancis, to step Curation: 000876
to stream PascalFrancis, to step Checkpoint: 000D12
to stream Main, to step Merge: 007034
to stream Main, to step Curation: 006C16

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">H<sub>2</sub>
 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>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle</s1>
<s2>18020 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>
<orgName type="university">Université d'Orléans</orgName>
</affiliation>
</author>
<author><name sortKey="Ferreira, Antoine" sort="Ferreira, Antoine" uniqKey="Ferreira A" first="Antoine" last="Ferreira">Antoine Ferreira</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle</s1>
<s2>18020 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>
<orgName type="university">Université d'Orléans</orgName>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">06-0493173</idno>
<date when="2004">2004</date>
<idno type="stanalyst">PASCAL 06-0493173 INIST</idno>
<idno type="RBID">Pascal:06-0493173</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">000C30</idno>
<idno type="wicri:Area/PascalFrancis/Curation">000876</idno>
<idno type="wicri:Area/PascalFrancis/Checkpoint">000D12</idno>
<idno type="wicri:Area/Main/Merge">007034</idno>
<idno type="wicri:Area/Main/Curation">006C16</idno>
<idno type="wicri:Area/Main/Exploration">006C16</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">H<sub>2</sub>
 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>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle</s1>
<s2>18020 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>
<orgName type="university">Université d'Orléans</orgName>
</affiliation>
</author>
<author><name sortKey="Ferreira, Antoine" sort="Ferreira, Antoine" uniqKey="Ferreira A" first="Antoine" last="Ferreira">Antoine Ferreira</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle</s1>
<s2>18020 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>
<orgName type="university">Université d'Orléans</orgName>
</affiliation>
</author>
</analytic>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Control synthesis</term>
<term>Delay system</term>
<term>Delay time</term>
<term>H2 control</term>
<term>Human operator</term>
<term>Internet</term>
<term>Optimal control</term>
<term>Optimal control (mathematics)</term>
<term>Optimal design</term>
<term>Padé approximation</term>
<term>Remote operation</term>
<term>Robust control</term>
<term>Structured singular value</term>
<term>Tactile sensitivity</term>
<term>Time varying system</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Téléopération</term>
<term>Approximation Padé</term>
<term>Valeur singulière structurée</term>
<term>Temps retard</term>
<term>Commande optimale</term>
<term>Synthèse commande</term>
<term>Opérateur humain</term>
<term>Sensibilité tactile</term>
<term>Conception optimale</term>
<term>Système à retard</term>
<term>Système paramètre variable</term>
<term>Commande H2</term>
<term>Commande robuste</term>
<term>Contrôle optimal</term>
<term>Internet</term>
<term>Micro-téléopération</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<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>
</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>
<orgName><li>Université d'Orléans</li>
</orgName>
</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)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 006C16 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 006C16 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    Main
   |étape=   Exploration
   |type=    RBID
   |clé=     Pascal:06-0493173
   |texte=   H2 optimal controller design for micro-teleoperation with delay
}}

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur les dispositifs haptiques

H2 optimal controller design for micro-teleoperation with delay

H2 optimal controller design for micro-teleoperation with delay

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri