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

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dc.contributor.authorGörmüş, Bilal
dc.contributor.authorYazıcı, Hakan
dc.date.accessioned2024-06-13T20:18:16Z
dc.date.available2024-06-13T20:18:16Z
dc.date.issued2021
dc.departmentFakülteler, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü
dc.description7th International Conference on Automation, Robotics and Applications (ICARA) -- February 04-06, 2021 -- Virtual, Prague
dc.description.abstractThis 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.
dc.description.sponsorshipIEEE ; IEEE Robotics and Automation Society ; Beijing Inst Control Robot & Intelligence Technol ; Czech University of Life Sciences Prague
dc.identifier.doi10.1109/ICARA51699.2021.9376511
dc.identifier.endpage162
dc.identifier.isbn9781665404693
dc.identifier.scopus2-s2.0-85103742232
dc.identifier.scopusqualityN/A
dc.identifier.startpage157
dc.identifier.urihttps://doi.org/10.1109/ICARA51699.2021.9376511
dc.identifier.urihttps://hdl.handle.net/11501/1292
dc.identifier.wosWOS:000668755500026
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorGörmüş, Bilal
dc.institutionauthorid0000-0002-2173-7664
dc.language.isoen
dc.publisherIEEE-Institute of Electrical and Electronics Engineers Inc.
dc.relation.ispartof7th International Conference on Automation, Robotics and Applications (ICARA)
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectLinear Matrix Inequalities
dc.subjectRobust H-Infinity Control
dc.subjectEllipsoid Method
dc.subjectBilateral Teleoperation System
dc.titleRobust state feedback h-infinity controller design for bilateral teleoperation system having saturated actuators
dc.typeConference Object

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