Robust Hinf control of bilateral teleoperation systems under communication time-delay

Olivier Sename 1 Anas Fattouh 2
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : An Hinf approach to robust control of bilateral teleoperation systems under communication time-delay is considered. Delay-independent stability conditions are firstly provided. Then, the problem of controller design that robustly stabilizes the system independently of time-delay w.r.t environment uncertainties is formulated as an Hinf problem. When delay independent stability cannot be achieved, a way to determine the maximal allowed time-delay is provided for which the system stability is guaranteed. Simulation results point out the interest of the proposed methodology.
Type de document :
Chapitre d'ouvrage
J.Chiasson and J.J.Loiseau. Applications of Time-delay systems, Springer-Verlag, pp.99-116, 2007, LNCIS
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-00176040
Contributeur : Olivier Sename <>
Soumis le : mardi 2 octobre 2007 - 11:03:24
Dernière modification le : samedi 6 octobre 2018 - 01:15:36

Identifiants

  • HAL Id : hal-00176040, version 1

Citation

Olivier Sename, Anas Fattouh. Robust Hinf control of bilateral teleoperation systems under communication time-delay. J.Chiasson and J.J.Loiseau. Applications of Time-delay systems, Springer-Verlag, pp.99-116, 2007, LNCIS. 〈hal-00176040〉

Partager

Métriques

Consultations de la notice

504