Switching robust control synthesis for teleoperation via dwell time conditions
Springer, 2014
unknown
Zugriff:
Control design for bilateral teleoperation is still an open problem, given that it is desirable to meet a proper balance in the inherent trade-off between transparency and stability. We propose the use of switching robust control, in which smooth switching among controllers is achieved by the existence of multiple Lyapunov functions with a special structure, linked by conditions of maximum average dwell time switching among controllers. We show the advantage of the proposed method by means of a control design synthesis for an 1-DoF teleoperation system, and by means of simulations of the corresponding closed loop system.
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Switching robust control synthesis for teleoperation via dwell time conditions
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Autor/in / Beteiligte Person: | López Martínez, CA César ; Molengraft, MJG René van de ; Steinbuch, M Maarten |
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Veröffentlichung: | Springer, 2014 |
Medientyp: | unknown |
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