H∞-based impedance control of teleoperation systems with time delay

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 36, Issue 19, 2003, Pages 141-146

  Fattouh, Anas ^a   Sename, Olivier ^b  

^a GIPSA LAB   (France)

^b INRIA RHÔNE ALPES   (France)

Author keywords

Bilateral teleoperation; H control; Impedance control; Time delay systems

Indexed keywords

CLOSED LOOP SYSTEMS; CONTROLLERS; MANIPULATORS; REMOTE CONTROL; TIME DELAY; TIMING CIRCUITS;

BILATERAL TELEOPERATION; COMMUNICATION TIME DELAYS; GLOBAL CONTROLLERS; IMPEDANCE CHARACTERISTICS; IMPEDANCE CONTROL; SLAVE MANIPULATORS; TELEOPERATION SYSTEMS; TIME-DELAY SYSTEMS;

DELAY CONTROL SYSTEMS;

EID: 79960747356     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1016/S1474-6670(17)33316-5     Document Type: Conference Paper

References (12)

1. R. J. Anderson and M. W. Spong. Bilateral control of teleoperators with time delay. IEEE Tmns. on Automatic Control, 34(5):494-501, 1989.
2. H. C. Cho, J. H. Park, K. Kim, J.-O. Park. Sliding-mode-based impedance controller for bilateral teleoperation under varying time-delay. In IEEE Int. Conf. on Robotics &J Automation, pages 1025-1030, Seoul, Korea May 21-26, 2001.
3. K. Kosuge and H. Murayama. Bilateral feedback control of telemanipulator via computer network in discrete time domain. In IEEE Int. Conf. on Robotics and Automation, pages 22192224, 1997.
4. D. A. Lawrence. Impedance control stability properties in common implementations. In IEEE 1nl. Conf. on Robotics &J Automation, pages 1185-1190, 1998.
5. G. Niemeyer and J.-J. E. Slotine. Towrds forcereflecting teleoperation over the internet. In IEEE 1nl. Conf. on Robotics &J Automation, pages 1909-1915, 1998.
6. R. Oboe and P. Fiorini. A design and control environment for internet-based telerobotics. Int. Journal Robotics Research, 17:433-449, 1998.
7. A. Sano, H. Fujimoto, M. Tanaka. Gainscheduled compensation for time-delay of bilateral teleoperation system. In IEEE Int. Conf. on Robotics &J Automation, pages 1916-1923. 1998.
8. S. Skogestad and J. Postlethwaite. Multivariable Feedback Control: Analysis and design. John Wiley and Sons, 1996. http)/www.chembio.ntnu.no/skogej.
9. S. Tafazoli, S. E. Sacludean, K. Hashtrudi-Zaad, P. D. Lawrence. Impedance control of a teleoperated excavator. IEEE Trans. on Control Systems Technology, 10(3):355-367, 2002.
10. Y. Yokokohji, T. Imaida, T. Yoshikawa. Bilateral control with energy balance monitoring under time-varying communication delay. In Proc. of the 2001 IEEE 1nl. Conf. on Robotics &J Automation, pages 2684-2689. 2000.
11. K. Zhou. Essentials of robust control. PrenticeHalL 1998.
12. K. Zhou. J. C. Doyle, K. Glover. Robust and optimal control. Prentice-Hall Inc., 1996.