DocumentCode
2433641
Title
Optimal control design in teleoperation systems for reducing time-delay effects
Author
Ganjefar, Soheil ; Mir, Masooud
Author_Institution
Bu Ali Sina Univ., Hamedan
fYear
2007
fDate
17-20 Oct. 2007
Firstpage
2437
Lastpage
2441
Abstract
In this paper a new structure for teleoperation has been proposed. An optimal control has been designed in slave subsystem for reducing position error between master and slave. In this structure reference inputs are position and velocity of master and states are position and velocity of slave. The performance index in this structure contains tracking part and minimum effort. The effectiveness of the system is shown through the simulations.
Keywords
control system synthesis; delay systems; optimal control; telerobotics; optimal control; position error; teleoperation systems; telerobotics; time-delay effects; Bandwidth; Control systems; Delay effects; Delay systems; Humans; Master-slave; Optimal control; Performance analysis; Propagation delay; State-space methods; Delay time; Optimal control; Teleoperation systems; tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location
Seoul
Print_ISBN
978-89-950038-6-2
Electronic_ISBN
978-89-950038-6-2
Type
conf
DOI
10.1109/ICCAS.2007.4406772
Filename
4406772
Link To Document