Design of a robust bilateral controller for teleoperators with modeling uncertainties
Design of a robust bilateral controller for teleoperators with modeling uncertainties
复制标题
具有建模不确定性的远程操作员鲁棒双边控制器的设计
DOI：
10.1109/iros.1999.811749
复制
发表时间：
1999
期刊：
影响因子：
--
通讯作者：
M. Chung
中科院分区：
文献类型：
--
作者：
Hyoung;K. Tanie;M. Chung
Teleoperation is the extension of a person's sensing and manipulation capability to a remote location. Teleoperators can be generally modeled as a linear transfer function inherently including modeling uncertainties. Modeling uncertainties can make the system unstable and its performance poor. Thus we present a design framework for a bilateral controller of the teleoperator that achieves stability and performance in the presence of modeling uncertainties using /spl mu/-synthesis. Simulation and experiments are conducted to confirm the validity of the proposed method.
