H∞ control of a teleoperation drive-by-wire system with communication time-delay

被引：0

作者：

Sename, Olivier ^{[1
]}

机构：

[1] ENSIEG, INPG, CNRS, Lab Automat Grenoble,UMR 5528, F-38402 St Martin Dheres, France

来源：

PROCEEDINGS OF 2006 MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1 AND 2 | 2006年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An H-infinity approach to robust control of bilateral teleoperation systems under communication time-delay is considered and applied on an experimental setup. Using a small gain approach an H-infinity controller is first designed in the nominal case and a robust design is then proposed for any communication delay in the case of environment uncertainties. When delay independent stability cannot be achieved, a way to determine the maximal allowed time-delay is provided. Simulation and experimental results are provided.

引用

页码：790 / 795

页数：6

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