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Conference Papers Year : 2012

$H_{\infty}$ Control Design for Novel Teleoperation System Scheme: A Discrete Approach

Abstract

This paper addresses the problem that, the discretization of stabilizing the continuous bilateral teleoperation controllers for digital implementation may lead to instable teleoperation or poor performance. With this problem, a discrete approach for the novel proxy teleoperation control scheme under time-varying delays is considered in the paper. The principle results involve sufficient conditions in terms of discrete Lyapunov-Krasovskii functionals (LKF) and $H_{\infty}$ control theory, which are resolved by Linear Matrix Inequality (LMI). The simulations of different working conditions are performed to verify the effectiveness of discretization for the continuous bilateral teleoperation system.
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Dates and versions

hal-00683868 , version 1 (30-03-2012)
hal-00683868 , version 2 (06-06-2012)

Identifiers

  • HAL Id : hal-00683868 , version 2

Cite

Bo Zhang, Alexandre Kruszewski, Jean-Pierre Richard. $H_{\infty}$ Control Design for Novel Teleoperation System Scheme: A Discrete Approach. 10th IFAC Workshop on Time Delay Systems, Jun 2012, Boston, United States. ⟨hal-00683868v2⟩
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