Switching Robust Control Synthesis for Teleoperation via Dwell Time Conditions

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… (More)
DOI: 10.1007/978-3-662-44196-1_20

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Cite this paper

@inproceedings{Martnez2014SwitchingRC, title={Switching Robust Control Synthesis for Teleoperation via Dwell Time Conditions}, author={C{\'e}sar A. L{\'o}pez Mart{\'i}nez and Ren{\'e} van de Molengraft and Maarten Steinbuch}, booktitle={EuroHaptics}, year={2014} }