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

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http://pubman.mpdl.mpg.de/cone/persons/resource/persons84227

Son,  HI
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

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.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-C379-1
Abstract
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.