Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Erratum to: Performance Evaluation of a Surgical Telerobotic System Using Kinematic Indices of the Master Hand-Controller Read chapter Read first chapter

2014 | OriginalPaper | Chapter

Switching Robust Control Synthesis for Teleoperation via Dwell Time Conditions

Authors : César A. López Martínez, René van de Molengraft, Maarten Steinbuch

Published in: Haptics: Neuroscience, Devices, Modeling, and Applications

Publisher: Springer Berlin Heidelberg

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

Control design for bilateral teleoperation is still an open problem, given that it is desirable to meet a proper balance in the inherent trade-off between transparency and stability. We propose the use of switching robust control, in which smooth switching among controllers is achieved by the existence of multiple Lyapunov functions with a special structure, linked by conditions of maximum average dwell time switching among controllers. We show the advantage of the proposed method by means of a control design synthesis for an 1-DoF teleoperation system, and by means of simulations of the corresponding closed loop system.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
Literature
1.
Cho, J.H., Lee, D.Y.: Gain-scheduling control of a teleoperation system. In: IEEE International Conference on Systems Man and Cybernetics, pp. 1489–1495 (2009)
2.
Hespanha, J.P., Morse, A.S.: Stability of switched systems with average dwell-time. In: Proceedings of the 38th IEEE Conference on Decision and Control, 1999, vol. 3, pp. 2655–2660. IEEE (1999)
3.
Kruszewski, A., et al.: A switched system approach to exponential stabilization through communication network. IEEE Trans. Control Syst. Technol 20(4), 887–900 (2012)CrossRef
4.
5.
López Martínez, C.A., Molengraft, R.V.D., Steinbuch, M.: High performance and stable teleoperation under bounded operator and environment dynamics. In: Proceedings of 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, pp. 373–379. September 5–7 2012
6.
López Martínez, C.A., Molengraft, R.V.D., Steinbuch, M.: High performance teleoperation using switching robust control. In: IEEE World Haptics Conference 2013, pp. 383–388. April 14–17 2013
7.
Bei, Lu, Fen, Wu: Switching lpv control of an f-16 aircraft via controller state reset. IEEE Trans. Control Syst. Technol. 14(2), 267–277 (2006)CrossRef
8.
Niemeyer, G., Slotine, J.-J.E.: Stable adaptive teleoperation. IEEE J. Oceanic Eng. 16(1), 152–162 (1991)CrossRef
9.
Passenberg, Carolina, Peer, A., Martin, B.: A survey of environment-, operator-, and task-adapted controllers for teleoperation systems. Mechatronics 20(7), 787–801 (2010)CrossRef
10.
Scherer, C.W., Weiland, S.: Linear matrix inequalities in control. Technical report 2010–56, SimTech Cluster of Excellence, 70569 Stuttgart (2010)
11.
Sturm, J.F.: Using sedumi 1.02, a matlab toolbox for optimization over symmetric cones. Optim. Methods Softw. 11(1), 625–653 (1999)CrossRefMathSciNet
Metadata
Title
Switching Robust Control Synthesis for Teleoperation via Dwell Time Conditions
Authors
César A. López Martínez
René van de Molengraft
Maarten Steinbuch
Copyright Year
2014
Publisher
Springer Berlin Heidelberg
Book
Haptics: Neuroscience, Devices, Modeling, and Applications

Print ISBN: 978-3-662-44195-4

Electronic ISBN: 978-3-662-44196-1

Copyright Year: 2014

DOI
https://doi.org/10.1007/978-3-662-44196-1_20