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Design of Robust Stable Master-Slave Systems with Uncertain Dynamics and Time-Delay
Bajcinca, N. and Koeppe, R. and Ackermann, J. (2002) Design of Robust Stable Master-Slave Systems with Uncertain Dynamics and Time-Delay. Proc. of 15th IFAC World Congress b'02, 2002-07-21 - 2002-07-26, Barcelona.
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Abstract
Master-slave and teleoperation systems with kinesthetic feedback enhance the dexterity of an operator performing manipulation tasks in remote, not accessible, or scaled environments. Kinesthetic feedback is achieved by closing bi-directional control loops between the operator and teleoperator site. This article proposes a method for the synthesis of robust bi-directional control loops in parameter space. Using the approach of singular frequencies a method for the synthesis of Hurwitz- and Gamma-stable bi-directional controllers is developed and its application is shown by simulation. Robust performance is achieved w.r.t. parameter uncertainties of the operator and teleoperator dynamics and the bi-directional communication time delay.
| Document Type: | Conference or Workshop Item (Paper) | ||||||||
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| Additional Information: | LIDO-Berichtsjahr=2002, | ||||||||
| Title: | Design of Robust Stable Master-Slave Systems with Uncertain Dynamics and Time-Delay | ||||||||
| Authors: |
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| Date: | 2002 | ||||||||
| Status: | Published | ||||||||
| Keywords: | Master-slave systems, singular frequencies, parameter space transformations, parameter space control | ||||||||
| Event Title: | Proc. of 15th IFAC World Congress b'02 | ||||||||
| Event Location: | Barcelona | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 2002-07-21 - 2002-07-26 | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Aeronautics | ||||||||
| HGF - Program Themes: | L AR - Aircraft Research | ||||||||
| DLR - Research area: | Aeronautics | ||||||||
| DLR - Program: | L AR - Aircraft Research | ||||||||
| DLR - Research theme (Project): | L - Flexible Aircraft (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics | ||||||||
| Deposited By: | elib DLR-Beauftragter | ||||||||
| Deposited On: | 16 Sep 2005 | ||||||||
| Last Modified: | 14 Jan 2010 18:00 |
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