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

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.
Keywords :
Type de document :
Communication dans un congrès
10th IFAC Workshop on Time Delay Systems, Jun 2012, Boston, United States. 2012

Littérature citée [20 références]

https://hal.inria.fr/hal-00683868
Contributeur : Bo Zhang <>
Soumis le : mercredi 6 juin 2012 - 09:51:35
Dernière modification le : vendredi 13 avril 2018 - 01:26:57
Document(s) archivé(s) le : jeudi 15 décembre 2016 - 11:06:04

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• HAL Id : hal-00683868, version 2

### Citation

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. 2012. 〈hal-00683868v2〉

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