Finite word length stability issues of a teleoperation motion-scaling control system

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Finite word length stability issues of a teleoperation motion-scaling control system

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  • DOI:  10.1049/cp:19980481
  • ISBN: 0 85296 708 X
  • Location: Swansea, UK
  • Conference date: 1-4 Sept. 1998
  • Format: PDF
We study the finite-precision implementation and the relevant stability conditions for optimal controller structures of a bilateral motion-scaling teleoperation control system. The parameterized digital controller realizations and the relevant stability robustness measures subject to word length constraints are formulated. The resulting controller structure provide an improved stability condition with minimum finite word length implementation.

Inspec keywords: optimal control; H∞ control; stability; digital control; discrete systems; closed loop systems; telerobotics

Subjects: Optimal control; Telerobotics; Discrete control systems; Control engineering computing; Stability in control theory

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