Robust state feedback h-infinity controller design for bilateral teleoperation system having saturated actuators

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Tarih

2021

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Yayıncı

IEEE-Institute of Electrical and Electronics Engineers Inc.

Erişim Hakkı

info:eu-repo/semantics/closedAccess

Özet

This paper considers a robust state-feedback H-infinity controller design for uncertain bilateral teleoperation system having norm bounded parametric uncertainties and saturated actuators. The proposed method utilizes nested attractive ellipsoids and employs linear matrix inequalities (LMIs) to obtain sufficient robust stability and H-infinity performance constraints under consideration of actuator saturation. The effectiveness of the proposed controller is illustrated through numerical simulations of responses a one-degree-of-freedom bilateral teleoperation system under exogenous input. Numerical simulation results show that in spite of the saturated actuators, the proposed LMIs based robust controller is very effective in reference tracking performance.

Açıklama

7th International Conference on Automation, Robotics and Applications (ICARA) -- February 04-06, 2021 -- Virtual, Prague

Anahtar Kelimeler

Linear Matrix Inequalities, Robust H-Infinity Control, Ellipsoid Method, Bilateral Teleoperation System

Kaynak

7th International Conference on Automation, Robotics and Applications (ICARA)

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