Suboptimal master-slave teleoperation control with delays

被引：2
|
作者：
Hokayem, Peter F. [1 ]
Stipanovic, Duan M. [1 ]
Spong, Mark W. [1 ]
机构：
[1] Univ Illinois, Coordinated Sci Lab, 1308 W Main St, Urbana, IL 61801 USA
来源：
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷
关键词：
D O I：
10.1109/ACC.2006.1656518
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the delay problem in bilateral teleoperation within a sampled-data context. The passivity constraints are imposed on the master and the slave side as well as the design specifications for a receding horizon-type optimal control design. This results in a quadratically constrained problem that is non-convex which is known to be difficult to solve. Thus, a dual formulation is proposed that provides a suboptimal control input vector that is shown to guarantee bounded trajectories.
引用
收藏
页码：2028 / +
页数：3
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