DocumentCode
329636
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
fYear
1998
fDate
1-4 Sep 1998
Firstpage
1676
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;
fLanguage
English
Publisher
iet
Conference_Titel
Control '98. UKACC International Conference on (Conf. Publ. No. 455)
Conference_Location
Swansea
ISSN
0537-9989
Print_ISBN
0-85296-708-X
Type
conf
DOI
10.1049/cp:19980481
Filename
726171
Link To Document