$H_{\infty}$ Robust Control Design for Teleoperation Systems - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2012

$H_{\infty}$ Robust Control Design for Teleoperation Systems

Abstract

This paper deals with the problem of delay-dependent robust $H_{\infty}$ control for time-varying delay teleoperation system with norm-bounded and time-varying model uncertainties. Thanks to our proposed control scheme, Lyapunov-Krasovskii functionals (LKF) and $H_{\infty}$ theory, the delay-dependent stability and tracking performance analysis are proposed in terms of Linear Matrix Inequality (LMI) optimization. An illustrative example is given by various simulations to prove that, our proposed solution is efficient to handle time-varying delays and uncertainties under different working conditions, such as abrupt tracking and wall contact motion.
Fichier principal
Vignette du fichier
uncertainties.pdf (584.83 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-00682948 , version 1 (27-03-2012)

Identifiers

  • HAL Id : hal-00682948 , version 1

Cite

Bo Zhang, Alexandre Kruszewski, Jean-Pierre Richard. $H_{\infty}$ Robust Control Design for Teleoperation Systems. 7th IFAC Symposium on Robust Control Design, Jun 2012, Aalborg, Denmark. ⟨hal-00682948⟩
400 View
168 Download

Share

Gmail Facebook X LinkedIn More