Tracking improvement based on the Proxy control scheme for bilateral teleoperation system under time-varying delays

International audienceThis paper addresses the problem of the position/force tracking in teleoperation system and proposes a haptic proxy control scheme. Compared to previous works, communication delays are assumed to be both time-varying and asymmetric, and the response of the synchronization and the transparency are improved. The control design is performed using Linear Matrix Inequality (LMI) optimization based on Lyapunov-Krasovskii functionals (LKF) and H1 control theory. With the designed controllers, the simulations of different working conditions, such as abrupt motion and wall contact, are performed and show the effectiveness of the proposed solution

H∞H_{\infty} Control Design for Novel Teleoperation System Scheme: A Discrete Approach

International audienceThis paper addresses the problem that, the discretization of stabilizing the continuous bilateral teleoperation controllers for digital implementation may lead to instable teleoperation or poor performance. With this problem, a discrete approach for the novel proxy teleoperation control scheme under time-varying delays is considered in the paper. The principle results involve sufficient conditions in terms of discrete Lyapunov-Krasovskii functionals (LKF) and $H_{\infty}$ control theory, which are resolved by Linear Matrix Inequality (LMI). The simulations of different working conditions are performed to verify the effectiveness of discretization for the continuous bilateral teleoperation system

Tracking improvement based on the Proxy control scheme for bilateral teleoperation system under time-varying delays

International audienceThis paper addresses the problem of the position/force tracking in teleoperation system and proposes a haptic proxy control scheme. Compared to previous works, communication delays are assumed to be both time-varying and asymmetric, and the response of the synchronization and the transparency are improved. The control design is performed using Linear Matrix Inequality (LMI) optimization based on Lyapunov-Krasovskii functionals (LKF) and H1 control theory. With the designed controllers, the simulations of different working conditions, such as abrupt motion and wall contact, are performed and show the effectiveness of the proposed solution