Design framework for telerobotics using the H∞ approach

T. I. Tsay; H. Kazerooni

Design framework for telerobotics using the H_∞ approach

T. I. Tsay, H. Kazerooni

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the American Control Conference
Publisher	Publ by American Automatic Control Council
Pages	2931-2935
Number of pages	5
ISBN (Print)	0780302109
Publication status	Published - 1992
Event	Proceedings of the 1992 American Control Conference - Chicago, IL, USA Duration: 1992 Jun 24 → 1992 Jun 26

Publication series

Name	Proceedings of the American Control Conference
Volume	4
ISSN (Print)	0743-1619

Other

Other	Proceedings of the 1992 American Control Conference
City	Chicago, IL, USA
Period	92-06-24 → 92-06-26

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Cite this

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title = "Design framework for telerobotics using the H∞ approach",

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.",

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year = "1992",

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series = "Proceedings of the American Control Conference",

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note = "Proceedings of the 1992 American Control Conference ; Conference date: 24-06-1992 Through 26-06-1992",

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AU - Tsay, T. I.

AU - Kazerooni, H.

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N2 - 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.

AB - 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.

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M3 - Conference contribution

AN - SCOPUS:0027069714

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T3 - Proceedings of the American Control Conference

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BT - Proceedings of the American Control Conference

PB - Publ by American Automatic Control Council

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Y2 - 24 June 1992 through 26 June 1992

ER -