Scaled teleoperation controller design for micromanipulation over internet
Identifieur interne : 000C24 ( PascalFrancis/Checkpoint ); précédent : 000C23; suivant : 000C25Scaled teleoperation controller design for micromanipulation over internet
Auteurs : Moussa Boukhnifer [France] ; Antoine Ferreira [France] ; Jean-Guy Fontaine [France]Source :
Descripteurs français
- Pascal (Inist)
- Téléopération, Synthèse commande, Rétroaction, Système à retard, Système paramètre variable, Commande robuste, Commande H infini, Commande optimale, Robustesse, Micromanipulation, Internet, Echelle nanométrique, Sensibilité tactile, Bilatéral, Temps retard, Temps différé, Facteur échelle, Optimisation, Valeur singulière structurée.
English descriptors
- KwdEn :
- Bilateral, Control synthesis, Delay system, Delay time, Delayed time, Feedback regulation, H infinite control, Internet, Micromanipulation, Nanometer scale, Optimal control, Optimization, Remote operation, Robust control, Robustness, Scale factor, Structured singular value, Tactile sensitivity, Time varying system.
Abstract
Recent developments on micro/nano manipulation and internet technologies allow potential impacts on networked-micro-automation of small industrial products. However, reliable and efficient tele-micromanipulation 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. Towards this end, this paper presents a robust bilateral controller design using H∞-optimal control and μ-synthesis frameworks. This approach allows a convenient means of tradeoff the optimization of various performance criteria (micro scale force/position) and robustness for a prespecified time-delay margin and force scaling factors. The validity of the proposed method is demonstrated by simulations and experiments for a pick-and-place micromanipulation task.
Affiliations:
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Pascal:06-0270433Le document en format XML
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<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Bilateral</term>
<term>Control synthesis</term>
<term>Delay system</term>
<term>Delay time</term>
<term>Delayed time</term>
<term>Feedback regulation</term>
<term>H infinite control</term>
<term>Internet</term>
<term>Micromanipulation</term>
<term>Nanometer scale</term>
<term>Optimal control</term>
<term>Optimization</term>
<term>Remote operation</term>
<term>Robust control</term>
<term>Robustness</term>
<term>Scale factor</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>Synthèse commande</term>
<term>Rétroaction</term>
<term>Système à retard</term>
<term>Système paramètre variable</term>
<term>Commande robuste</term>
<term>Commande H infini</term>
<term>Commande optimale</term>
<term>Robustesse</term>
<term>Micromanipulation</term>
<term>Internet</term>
<term>Echelle nanométrique</term>
<term>Sensibilité tactile</term>
<term>Bilatéral</term>
<term>Temps retard</term>
<term>Temps différé</term>
<term>Facteur échelle</term>
<term>Optimisation</term>
<term>Valeur singulière structurée</term>
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<front><div type="abstract" xml:lang="en">Recent developments on micro/nano manipulation and internet technologies allow potential impacts on networked-micro-automation of small industrial products. However, reliable and efficient tele-micromanipulation 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. Towards this end, this paper presents a robust bilateral controller design using H∞-optimal control and μ-synthesis frameworks. This approach allows a convenient means of tradeoff the optimization of various performance criteria (micro scale force/position) and robustness for a prespecified time-delay margin and force scaling factors. The validity of the proposed method is demonstrated by simulations and experiments for a pick-and-place micromanipulation task.</div>
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<fC01 i1="01" l="ENG"><s0>Recent developments on micro/nano manipulation and internet technologies allow potential impacts on networked-micro-automation of small industrial products. However, reliable and efficient tele-micromanipulation 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. Towards this end, this paper presents a robust bilateral controller design using H∞-optimal control and μ-synthesis frameworks. This approach allows a convenient means of tradeoff the optimization of various performance criteria (micro scale force/position) and robustness for a prespecified time-delay margin and force scaling factors. The validity of the proposed method is demonstrated by simulations and experiments for a pick-and-place micromanipulation task.</s0>
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<fC02 i1="01" i2="X"><s0>001D02D07</s0>
</fC02>
<fC02 i1="02" i2="X"><s0>001D02D08</s0>
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<fC03 i1="01" i2="X" l="FRE"><s0>Téléopération</s0>
<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>
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<s5>09</s5>
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<s5>10</s5>
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<s5>10</s5>
</fC03>
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<s5>10</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Commande robuste</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Robust control</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Control robusta</s0>
<s5>11</s5>
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<fC03 i1="07" i2="X" l="FRE"><s0>Commande H infini</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>H infinite control</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Control H infinito</s0>
<s5>12</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Commande optimale</s0>
<s5>13</s5>
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<s5>13</s5>
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<s5>13</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Robustesse</s0>
<s5>14</s5>
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<fC03 i1="09" i2="X" l="ENG"><s0>Robustness</s0>
<s5>14</s5>
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<fC03 i1="09" i2="X" l="SPA"><s0>Robustez</s0>
<s5>14</s5>
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<s5>18</s5>
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<s5>18</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Micromanipulación</s0>
<s5>18</s5>
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<s5>19</s5>
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<s5>19</s5>
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<s5>19</s5>
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<s5>20</s5>
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<s5>20</s5>
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<s5>21</s5>
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<s5>21</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>21</s5>
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<s5>22</s5>
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<s5>22</s5>
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<s5>22</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Temps retard</s0>
<s5>23</s5>
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<s5>23</s5>
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<s5>23</s5>
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<s5>24</s5>
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<fC03 i1="16" i2="X" l="ENG"><s0>Delayed time</s0>
<s5>24</s5>
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<fC03 i1="16" i2="X" l="SPA"><s0>Tiempo diferido</s0>
<s5>24</s5>
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<s5>25</s5>
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<s5>25</s5>
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<s5>25</s5>
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<s5>28</s5>
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<s5>28</s5>
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<s5>28</s5>
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<s5>29</s5>
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<s5>29</s5>
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<fC03 i1="19" i2="X" l="SPA"><s0>Valor singular estructurada</s0>
<s5>29</s5>
</fC03>
<fN21><s1>170</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
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<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>
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<name sortKey="Ferreira, Antoine" sort="Ferreira, Antoine" uniqKey="Ferreira A" first="Antoine" last="Ferreira">Antoine Ferreira</name>
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