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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ayoung Hong Jang Ho Cho Doo Yong Lee |
| Copyright Year | 2012 |
| Description | Author affiliation: Department of Automatic Control, Lund University, PO Box 118, SE-221 00 Lund, Sweden (Jang Ho Cho) || Department of Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Spemannstraße 38, 72076 Tübingen, Germany (Ayoung Hong) || Department of Mechanical Engineering, KAIST, Daejeon, 305-701, Republic of Korea (Doo Yong Lee) |
| Abstract | Telesurgery has come to the forefront because of many merits such as a small incision, less bleeding and a short period of hospitalization. By means of internet, telesurgery is practical even the master and the slave are not physically in the same place. Internet, however, causes communication constraints such as time-varying delay and packet loss which induce instability and performance degradations in teleoperation systems. In this paper, we consider teleoperation systems including bilateral communications with asynchronous packet loss and time-varying delay. We define teleoper-ation sytsems as polytopic linear differential inclusions (PLDIs) to cope with switchings between subsystems which are divided by the status of communication channels. A sufficient condition which guarantees asymptotic stability and H∞ performance is derived for teleoperation systems modeled as PLDIs. Then, we propose a H∞ control design method, using linear matrix inequalities (LMIs). |
| Starting Page | 1762 |
| Ending Page | 1767 |
| File Size | 1097490 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467322478 |
| e-ISBN | 9788993215045 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-10-17 |
| Publisher Place | Korea (South) |
| Access Restriction | Subscribed |
| Rights Holder | ICROS |
| Subject Keyword | Asymptotic stability H∞ control Force Packet loss Teleoperation Silicon Linear matrix inequalities Time delay Delay Telesurgery |
| Content Type | Text |
| Resource Type | Article |
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