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

Olivier Sename 1 Anas Fattouh 2
1 NECS - Networked Controlled Systems
GIPSA-DA - Département Automatique, Inria Grenoble - Rhône-Alpes
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.
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https://hal.archives-ouvertes.fr/hal-00176040
Contributor : Olivier Sename <>
Submitted on : Tuesday, October 2, 2007 - 11:03:24 AM
Last modification on : Wednesday, May 13, 2020 - 4:16:01 PM

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  • 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⟩

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