Control Design Based on Analytical Stability Criteria for Optimized Kinesthetic Perception in Scaled Teleoperation
2009
Conference Paper
ei
This paper considers kinesthetic perception as the main performance objective for a scaled teleoperation system, and devises a scheme to optimize it with constraints of position tracking and absolute stability. Analytical criteria for monitoring stability have been derived for position-position, force-position, and four-channel control architectures using Llewellyn's absolute stability criteria. This helps to reduce the optimization complexity and provides an easy and effective design guideline for selecting control gains amongst the range. Optimization results indicate that trade-offs exist among different control architectures. This paper provides guidelines based on application-dependent selection of control scheme.
Author(s): | Son, HI. and Bhattacharjee, T. and Lee, DY. |
Journal: | ICCAS-SICE International Joint Conference |
Pages: | 3365-3370 |
Year: | 2009 |
Month: | August |
Day: | 0 |
Publisher: | IEEE |
Department(s): | Empirical Inference |
Bibtex Type: | Conference Paper (inproceedings) |
Event Name: | ICCAS-SICE International Joint Conference |
Event Place: | Fukuoka, Japan |
Address: | Piscataway, NJ, USA |
Digital: | 0 |
ISBN: | 978-4-907764-34-0 |
Language: | en |
Organization: | Max-Planck-Gesellschaft |
School: | Biologische Kybernetik |
Links: |
Web
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BibTex @inproceedings{6461, title = {Control Design Based on Analytical Stability Criteria for Optimized Kinesthetic Perception in Scaled Teleoperation}, author = {Son, HI. and Bhattacharjee, T. and Lee, DY.}, journal = {ICCAS-SICE International Joint Conference}, pages = {3365-3370}, publisher = {IEEE}, organization = {Max-Planck-Gesellschaft}, school = {Biologische Kybernetik}, address = {Piscataway, NJ, USA}, month = aug, year = {2009}, doi = {}, month_numeric = {8} } |