Tracking improvement based on the Proxy control scheme for bilateral teleoperation system under time-varying delays

Bo Zhang 1 Alexandre Kruszewski 1 Jean-Pierre Richard 1, 2, 3
1 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper addresses the problem of the position/force tracking in teleoperation system and proposes a haptic proxy control scheme. Compared to previous works, communication delays are assumed to be both time-varying and asymmetric, and the response of the synchronization and the transparency are improved. The control design is performed using Linear Matrix Inequality (LMI) optimization based on Lyapunov-Krasovskii functionals (LKF) and H1 control theory. With the designed controllers, the simulations of different working conditions, such as abrupt motion and wall contact, are performed and show the effectiveness of the proposed solution.
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Bo Zhang, Alexandre Kruszewski, Jean-Pierre Richard. Tracking improvement based on the Proxy control scheme for bilateral teleoperation system under time-varying delays. 16th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Sep 2011, Toulouse, France. ⟨hal-00602337⟩

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