DocumentCode
2755853
Title
Robust Haptic Telemanipulation Control Systems
Author
Li, Li ; Khorasani, K.
Author_Institution
Sch. of Electr. & Inf. Eng., Wuhan Inst. of Technol.
fYear
2006
fDate
1-3 June 2006
Firstpage
1
Lastpage
6
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/RAMECH.2006.252628
Filename
4018744
Link To Document