HapticV1, PascalFrancis, Checkpoint, bibRecord, 000D12

H2 optimal controller design for micro-teleoperation with delay

Identifieur interne : 000D12 ( PascalFrancis/Checkpoint ); précédent : 000D11; suivant : 000D13

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:

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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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<keywords scheme="Pascal" xml:lang="fr"><term>Téléopération</term>
<term>Approximation Padé</term>
<term>Valeur singulière structurée</term>
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<term>Commande optimale</term>
<term>Synthèse commande</term>
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<term>Sensibilité tactile</term>
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<term>Système paramètre variable</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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H2 optimal controller design for micro-teleoperation with delay

H2 optimal controller design for micro-teleoperation with delay

Source :

Descripteurs français

English descriptors

Abstract

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Links to Exploration step

Le document en format XML

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