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

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 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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Submitted on : Wednesday, June 6, 2012 - 9:51:35 AM
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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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