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Control Design Based on Analytical Stability Criteria for Optimized Kinesthetic Perception in Scaled Teleoperation

2009

Conference Paper

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This paper considers kinesthetic perception as the main performance objective for a scaled teleoperation system, and devises a scheme to optimize it with constraints of position tracking and absolute stability. Analytical criteria for monitoring stability have been derived for position-position, force-position, and four-channel control architectures using Llewellyn's absolute stability criteria. This helps to reduce the optimization complexity and provides an easy and effective design guideline for selecting control gains amongst the range. Optimization results indicate that trade-offs exist among different control architectures. This paper provides guidelines based on application-dependent selection of control scheme.

Author(s): Son, HI. and Bhattacharjee, T. and Lee, DY.
Journal: ICCAS-SICE International Joint Conference
Pages: 3365-3370
Year: 2009
Month: August
Day: 0
Publisher: IEEE

Department(s): Empirical Inference
Bibtex Type: Conference Paper (inproceedings)

Event Name: ICCAS-SICE International Joint Conference
Event Place: Fukuoka, Japan

Address: Piscataway, NJ, USA
Digital: 0
ISBN: 978-4-907764-34-0
Language: en
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik

Links: Web

BibTex

@inproceedings{6461,
  title = {Control Design Based on Analytical Stability Criteria for Optimized Kinesthetic Perception in Scaled Teleoperation},
  author = {Son, HI. and Bhattacharjee, T. and Lee, DY.},
  journal = {ICCAS-SICE International Joint Conference},
  pages = {3365-3370},
  publisher = {IEEE},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  address = {Piscataway, NJ, USA},
  month = aug,
  year = {2009},
  month_numeric = {8}
}