BILATERAL CONTROLLER FOR TELEOPERATORS WITH TIME-DELAY VIA MU-SYNTHESIS

被引：235

作者：

LEUNG, GMH

FRANCIS, BA

APKARIAN, J

机构：

[1] UNIV TORONTO,DEPT ELECT & COMP ENGN,TORONTO,ON M5S 1A4,CANADA

[2] QUANSER CONSULTING,TORONTO,ON M5T 2N7,CANADA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1995年 / 11卷 / 01期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Communication channels (information theory) - Delay control systems - Manipulators - Optimal control systems - System stability;

D O I：

10.1109/70.345941

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In the standard teleoperator system, force and velocity signals are communicated between a master robot and a slave robot. It is well known that the system can become unstable when even a small time delay exists in the communication channel. In this paper, a method based on the H(infinity)-optimal control and mu-synthesis frameworks is introduced to design a controller for the teleoperator that achieves stability for a prespecified time-delay margin while optimizing performance specifications. A numerical design example is included.

引用

页码：105 / 116

页数：12

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