Title :
Finite word length stability issues of a teleoperation motion-scaling control system
Author :
Istepanian, R. Sh Habib ; Wu, J. ; Whidborne, J.F. ; Yan, J. ; Salcudean, S.E.
Author_Institution :
Portsmouth Polytech., UK
Abstract :
We study the finite-precision implementation and the relevant stability conditions for optimal controller structures of a bilateral motion-scaling teleoperation control system. The parameterized digital controller realizations and the relevant stability robustness measures subject to word length constraints are formulated. The resulting controller structure provide an improved stability condition with minimum finite word length implementation
Keywords :
telerobotics; bilateral motion-scaling teleoperation control system; finite word length stability; optimal controller structures; parameterized digital controller; stability robustness measures; word length constraints;
Conference_Titel :
Control '98. UKACC International Conference on (Conf. Publ. No. 455)
Conference_Location :
Swansea
Print_ISBN :
0-85296-708-X
DOI :
10.1049/cp:19980481
