| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 717455 | IFAC Proceedings Volumes | 2012 | 6 Pages |
Abstract
Procedure for the synthesis of decentralized controllers for delayed bilateral teleoperation systems is proposed, based on the analytical solution of a global H2 optimization. Explicit state-space formulae for the optimal controller are presented. The controller possesses a neat structure, which preserves closed-loop stability regardless of the delay length. The behavior of the resulting teleoperation system is illustrated in simulations and verified by experiments.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
