Name
Abstract | ||
|---|---|---|
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∞-optimal control and μ-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 |
Year | DOI | Venue |
|---|---|---|
1995 | 10.1109/70.345941 | Robotics and Automation, IEEE Transactions |
Keywords | DocType | Volume |
H∞ control,control system synthesis,delays,stability,telerobotics,μ-synthesis,bilateral controller,numerical design example,performance specifications,stability,teleoperators,time delay | Journal | 11 |
Issue | ISSN | Citations |
1 | 1042-296X | 33 |
PageRank | References | Authors |
6.35 | 4 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| G. M. H. Leung | 1 | 33 | 6.35 |
| B. A. Francis | 2 | 299 | 79.71 |
| Jacob Apkarian | 3 | 75 | 10.18 |