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  Control Design Based on Analytical Stability Criteria for Optimized Kinesthetic Perception in Scaled Teleoperation

Son, H., Bhattacharjee, T., & Lee, D. (2009). Control Design Based on Analytical Stability Criteria for Optimized Kinesthetic Perception in Scaled Teleoperation. In ICCAS-SICE International Joint Conference (pp. 3365-3370). Piscataway, NJ, USA: IEEE.

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Datensatz-Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-C379-1 Versions-Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-C37A-0
Genre: Konferenzbeitrag

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 Urheber:
Son, HI1, Autor           
Bhattacharjee, T, Autor
Lee, DY, Autor
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Zusammenfassung: This paper considers kinesthetic perception as the main performance objective for a scaled teleoperation system, and devises a scheme to optimize it with constraints of position tracking and absolute stability. Analytical criteria for monitoring stability have been derived for position-position, force-position, and four-channel control architectures using Llewellyn's absolute stability criteria. This helps to reduce the optimization complexity and provides an easy and effective design guideline for selecting control gains amongst the range. Optimization results indicate that trade-offs exist among different control architectures. This paper provides guidelines based on application-dependent selection of control scheme.

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 Datum: 2009-08
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: ISBN: 978-4-907764-34-0
URI: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5334203
BibTex Citekey: 6461
 Art des Abschluß: -

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Titel: ICCAS-SICE International Joint Conference
Veranstaltungsort: Fukuoka, Japan
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Titel: ICCAS-SICE International Joint Conference
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 3365 - 3370 Identifikator: -