The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Teleoperation controller design using H/sub ∞/-optimization with application to motion-scaling
Abstract
The design of a bilateral teleoperation controller is a nontrivial problem. The goal is to achieve a stable system with optimal performance in the possible presence of time delays, disturbances, uncertainties and/or measurement noise. In this paper, a general design strategy based on H/sub /spl infin// theory is presented. This approach allows a convenient means to trade off the optimization of various performance criteria and system robustness. The control approach is applied to a motion-scaling teleoperation system and simulations and experiments with the resulting controllers demonstrate that the strategy is effective.
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Citations
Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Cited by
Hashtrudi-Zaad, K., & Salcudean, S. E. (2002) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.988981 · Cited by 373
Self-citationPerformance measurement in scaled teleoperation for microsurgery
Salcudean, S. E., Ku, S., & Bell, G. (1997) · Lecture Notes in Computer Science · doi:10.1007/bfb0029304 · Cited by 96
Self-citationAgent-level optimal LQG control of dynamically decoupled systems with processing delays
Kashyap, M., & Lessard, L. (2020) · 2020 59th IEEE Conference on Decision and Control (CDC) · doi:10.1109/cdc42340.2020.9303979 · Cited by 7
Metadata
- Authors
- Yan, J., & Salcudean, S. E.
- Venue
- IEEE Transactions on Control Systems Technology
- Published
- 1996-05
- Volume
- 4
- Issue
- 3
- Pages
- 244-258
- ISSN
- 1063-6536 (ISSN-L)
- OpenAlex
- W2085160992
- Cited by
- 168
- References
- 1
- FWCI
- 5.01
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Teleoperation controller design using H/sub ∞/-optimization with application to motion-scaling. https://app.cochat.ai/papers/10.1109/87.491198
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- Yan, J., & Salcudean, S. E. (1996). Teleoperation controller design using H/sub ∞/-optimization with application to motion-scaling. IEEE Transactions on Control Systems Technology. https://doi.org/10.1109/87.491198
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