Design framework for telerobotics using the H approach

T. I. Tsay, H. Kazerooni

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents a design framework for a controller of a telerobotic system. The controller is designed so the dynamic behaviors of the master robot and the slave robot are functions of each other. This paper first describes these functions, which the designer sets based upon the application, and then proposes a control architecture to achieve these functions. To guarantee that the specified functions and proposed architecture govern the system behavior, H control theory and model reduction techniques are used. Several experiments were conducted to verify the theoretical derivations.

Original languageEnglish
Title of host publicationProceedings of the American Control Conference
PublisherPubl by American Automatic Control Council
Pages2931-2935
Number of pages5
ISBN (Print)0780302109
Publication statusPublished - 1992 Dec 1
EventProceedings of the 1992 American Control Conference - Chicago, IL, USA
Duration: 1992 Jun 241992 Jun 26

Publication series

NameProceedings of the American Control Conference
Volume4
ISSN (Print)0743-1619

Other

OtherProceedings of the 1992 American Control Conference
CityChicago, IL, USA
Period92-06-2492-06-26

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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  • Cite this

    Tsay, T. I., & Kazerooni, H. (1992). Design framework for telerobotics using the H approach. In Proceedings of the American Control Conference (pp. 2931-2935). (Proceedings of the American Control Conference; Vol. 4). Publ by American Automatic Control Council.