{"title":"双边远程操作系统透明度的制定:一种稳健的方法","authors":"M. Salimifar, H. Taghirad, B. Fallahi","doi":"10.1109/ICCIAUTOM.2013.6912803","DOIUrl":null,"url":null,"abstract":"This paper presents a robust structure to optimize transparency in bilateral teleoperation systems. The system is assumed to be linear, with constant but uncertain time delay in communication channel. Benefiting from small gain theorem and by using optimal H2/H∞ solution of the formulated problem, stability of the delayed system is guaranteed, while the transparency of the bilateral teleoperation system has been reached to a desired level. Simulation results show the effectiveness of the proposed formulation and its solution for a case study.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Formulation of transparency in bilateral teleoperation systems: A robust approach\",\"authors\":\"M. Salimifar, H. Taghirad, B. Fallahi\",\"doi\":\"10.1109/ICCIAUTOM.2013.6912803\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a robust structure to optimize transparency in bilateral teleoperation systems. The system is assumed to be linear, with constant but uncertain time delay in communication channel. Benefiting from small gain theorem and by using optimal H2/H∞ solution of the formulated problem, stability of the delayed system is guaranteed, while the transparency of the bilateral teleoperation system has been reached to a desired level. Simulation results show the effectiveness of the proposed formulation and its solution for a case study.\",\"PeriodicalId\":444883,\"journal\":{\"name\":\"The 3rd International Conference on Control, Instrumentation, and Automation\",\"volume\":\"4 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"The 3rd International Conference on Control, Instrumentation, and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCIAUTOM.2013.6912803\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"The 3rd International Conference on Control, Instrumentation, and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCIAUTOM.2013.6912803","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Formulation of transparency in bilateral teleoperation systems: A robust approach
This paper presents a robust structure to optimize transparency in bilateral teleoperation systems. The system is assumed to be linear, with constant but uncertain time delay in communication channel. Benefiting from small gain theorem and by using optimal H2/H∞ solution of the formulated problem, stability of the delayed system is guaranteed, while the transparency of the bilateral teleoperation system has been reached to a desired level. Simulation results show the effectiveness of the proposed formulation and its solution for a case study.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
