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Communication Dans Un Congrès Année : 2006

Hinf control of a Teleoperation Drive-by-Wire System with Communication Time-Delay

Olivier Sename

Résumé

An hinf approach to robust control of bilateral teleoperation systems under communication time-delay is considered and applied on an experimental setup. Using a small gain approach an Hinf controller is first designed in the nominal case and a robust design is then proposed for any communication delay in the case of environment uncertainties. When delay independent stability cannot be achieved, a way to determine the maximal allowed time-delay is provided. Simulation and experimental results are provided.
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Dates et versions

hal-00103527 , version 1 (04-10-2006)

Identifiants

  • HAL Id : hal-00103527 , version 1

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Olivier Sename. Hinf control of a Teleoperation Drive-by-Wire System with Communication Time-Delay. Jun 2006. ⟨hal-00103527⟩
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