On the H2 Decentralized Controller Synthesis for Delayed Bilateral Teleoperation Systems
On the H2 Decentralized Controller Synthesis for Delayed Bilateral Teleoperation Systems
复制标题
时滞双边遥操作系统的H2分散控制器综合
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
Maxim Kristalny
中科院分区：
文献类型：
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作者：
J. Cho;Maxim Kristalny
基于全局H2优化的解析解，提出了时滞双边遥操作系统分散控制器的综合方法。给出了最优控制器的显式状态空间公式。该控制器具有简洁的结构，无论延迟长度如何，都能保持闭环稳定性。仿真和实验验证了所得到的远操作系统的性能。
Procedure for the synthesis of decentralized controllers for delayed bilateral teleoperation systems is proposed, based on the analytical solution of a global H2 optimization. Explicit state-space formulae for the optimal controller are presented. The controller possesses a neat structure, which preserves closed-loop stability regardless of the delay length. The behavior of the resulting teleoperation system is illustrated in simulations and verified by experiments.