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Communication Dans Un Congrès Année : 2012

$H_{\infty}$ Control of Delayed Teleoperation Systems under Polytopic-Type Uncertainties

Résumé

In this paper, the $H_{\infty}$ control design under time-varying delays and polytopic-type uncertainties, which ensures the stability and performance (synchronization/transparency) between the master and slave manipulators, is proposed. With this objective, the design of the controller based on our proposed control scheme is performed by using Linear Matrix Inequality (LMI) optimization based on Lyapunov-Krasovskii functionals (LKF) and $H_{\infty}$ control theory. The solution is efficient for different working conditions, \emph{e.g.} abrupt tracking and wall contact motion, and this is illustrated by a final example.
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Dates et versions

hal-00684710 , version 1 (02-04-2012)

Identifiants

  • HAL Id : hal-00684710 , version 1

Citer

Bo Zhang, Alexandre Kruszewski, Jean-Pierre Richard. $H_{\infty}$ Control of Delayed Teleoperation Systems under Polytopic-Type Uncertainties. 20th Mediterranean Conference on Control and Automation, Jul 2012, Barcelone, Spain. ⟨hal-00684710⟩
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