Stability guaranteed control for teleoperators : time domain passivity approach원격조종 시스템의 안정성 보장 제어기 : 시간 영역에서의 수동성을 이용한 접근

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 510
  • Download : 0
A teleoperator is a pair of robot manipulators connected in such a way as to allow operating the slave on a remote environment through the master. The most important issue for designing a teleoperator is to make the operator feel as if he/she directly interacts with the remote environment. To achieve this, there are several key technologies have to be solved. One of the important technologies that play an integral role is control. Even though there have been numerous researches, the study of increasing control performance while guaranteeing system stability in spite of highly variable human operator and environment dynamics is still an open problem. In this dissertation, a novel energy-based method is proposed to ensure stable teleoperation under a wide variety of operating conditions with increase of conservatism even less. This control method is developed in a general framework since the issue that increasing the performance while guaranteeing stability with wide range of uncertainty sets, is not only confined to the control of teleoperator. This has been a common theoretical issue in control theories. In terms of energy flow, large classes of control systems are expressed from a network point of view. The condition for guaranteeing the stability of the presented network model is obtained based on the concept of passivity. For satisfying the obtained stability condition, a new control scheme that is based on the time-domain definition of passivity is proposed. We define a "Passivity Observer" (PO) which measures energy flow in and out of one or more subsystems in real-time software. Active behavior is indicated by a negative value of the PO at any time. We also define the "Passivity Controller" (PC), an adaptive dissipative element which, at each time sample, absorbs exactly the net energy output (if any) measured by the PO. The most powerful point of the PO/PC method is that it requires very little additional computation and does not re...
Advisors
Kwon, Dong-Sooresearcher권동수researcher
Description
한국과학기술원 : 기계공학전공,
Publisher
한국과학기술원
Issue Date
2002
Identifier
174482/325007 / 000975230
Language
eng
Description

학위논문(박사) - 한국과학기술원 : 기계공학전공, 2002.2, [ xii, 125 p. ]

Keywords

controller; stability; passivity; teleoperator; haptic; 햅틱; 제어기; 안정성; 수동성; 원격조종 시스템

URI
http://hdl.handle.net/10203/43125
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=174482&flag=dissertation
Appears in Collection
ME-Theses_Ph.D.(박사논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0