Sökning: onr:"swepub:oai:lup.lub.lu.se:83e5169d-6187-4834-92d5-8aaa0d45e9bf" >
On the H2 Decentral...
On the H2 Decentralized Controller Synthesis for Delayed Bilateral Teleoperation Systems
-
- Cho, Jang Ho (författare)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
-
- Kristalny, Maxim (författare)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
-
(creator_code:org_t)
- 2012
- 2012
- Engelska.
-
Ingår i: 10th IFAC Symposium on Robot Control. - 1474-6670. - 9783902823113 ; , s. 393-398
- Relaterad länk:
-
http://dx.doi.org/10... (free)
-
visa fler...
-
https://lup.lub.lu.s...
-
https://doi.org/10.3...
-
visa färre...
Abstract
Ämnesord
Stäng
- Procedure for the synthesis of decentralized controllers for delayed bilateral teleoperation systems is proposed, based on the analytical solution of a global H2 optimization. Explicit state-space formulae for the optimal controller are presented. The controller possesses a neat structure, which preserves closed-loop stability regardless of the delay length. The behavior of the resulting teleoperation system is illustrated in simulations and verified by experiments.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Publikations- och innehållstyp
- kon (ämneskategori)
- ref (ämneskategori)
Hitta via bibliotek
Till lärosätets databas