Gain-scheduling control of a teleoperation system

  title={Gain-scheduling control of a teleoperation system},
  author={Jang Ho Cho and Doo Yong Lee},
  journal={2009 IEEE International Conference on Systems, Man and Cybernetics},
This paper presents a control design framework for robust teleoperation. The teleoperation system with uncertainties is modeled as a linear parameter varying plant to employ the gain-scheduling control framework. The time-varying transmission delay, disturbances, and uncertainty of the environment are considered in the design of the control. The usual assumption that the human operator and the environment are passive is not made in this method. The control scheme employs an online estimation of… CONTINUE READING