Title :
Robust Haptic Telemanipulation Control Systems
Author :
Li, Li ; Khorasani, K.
Author_Institution :
Sch. of Electr. & Inf. Eng., Wuhan Inst. of Technol.
Abstract :
This paper discusses how linear fractional transformation (LFT) technique and mu-analysis and synthesis theory can be applied into the design of robust haptic telemanipulation systems with multiple uncertain sources including communication time delay, and presents a framework of controller design for such a system under the assumption that all components in the system possess uncertainty
Keywords :
control system analysis; control system synthesis; manipulators; robust control; telerobotics; communication time delay; controller design; linear fractional transformation; mu-analysis; mu-synthesis; robust haptic telemanipulation control systems; system uncertainty; Communication system control; Control system synthesis; Control systems; Delay effects; Force control; Haptic interfaces; Machinery; Master-slave; Robust control; Uncertainty; haptic; linear fractional transformation; telemanipulation; uncertainty; ¿-synthesis and analysis;
Conference_Titel :
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location :
Bangkok
Print_ISBN :
1-4244-0024-4
Electronic_ISBN :
1-4244-0025-2
DOI :
10.1109/RAMECH.2006.252628
