Title :
Teleoperation controller design using hierarchical genetic algorithm
Author :
Tang, KS ; Man, KF ; Istepanian, Robert S H
Author_Institution :
Dept. of Electron. Eng., City Univ. of Hong Kong, Kowloon, China
Abstract :
Hierarchical genetic algorithm (HGA) is formulated to design the H∞ controller for the teleoperation system used in microsurgery. Such a HGA is capable of searching the structure of the H∞ and its coefficients simultaneously. A multiple objective ranking scheme is also incorporated so that both the force and position transparency are optimized against any strictly passive environment.
Keywords :
H∞ control; control system synthesis; genetic algorithms; medical robotics; telerobotics; H∞ controller design; force transparency; hierarchical genetic algorithm; microsurgery; multiple objective ranking scheme; passive environment; position transparency; teleoperation controller design; Algorithm design and analysis; Control systems; Force control; Force measurement; Genetic algorithms; Humans; Impedance; Magnetic levitation; Master-slave; Microsurgery;
Conference_Titel :
Industrial Technology 2000. Proceedings of IEEE International Conference on
Print_ISBN :
0-7803-5812-0
DOI :
10.1109/ICIT.2000.854256
