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Switching Robust Control Synthesis for Teleoperation via Dwell Time Conditions

  • César A. López MartínezEmail author
  • René van de Molengraft
  • Maarten Steinbuch
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8619)

Abstract

Control design for bilateral teleoperation is still an open problem, given that it is desirable to meet a proper balance in the inherent trade-off between transparency and stability. We propose the use of switching robust control, in which smooth switching among controllers is achieved by the existence of multiple Lyapunov functions with a special structure, linked by conditions of maximum average dwell time switching among controllers. We show the advantage of the proposed method by means of a control design synthesis for an 1-DoF teleoperation system, and by means of simulations of the corresponding closed loop system.

Keywords

Switching robust control Bilateral teleoperation Linear matrix inequalities Control system synthesis Dwell time 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • César A. López Martínez
    • 1
    Email author
  • René van de Molengraft
    • 1
  • Maarten Steinbuch
    • 1
  1. 1.Control Systems Technology, Department of Mechanical EngineeringEindhoven University of TechnologyEindhovenThe Netherlands

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