Experiments results on robustness effects of a new prefilter in generalized predictive control: Application to bilateral teleoperation systems

Tahar Slama; Alberto Trevisani; Didier Aubry; Roberto Oboe

doi:10.1109/AMC.2008.4516127

Experiments results on robustness effects of a new prefilter in generalized predictive control: Application to bilateral teleoperation systems

Tahar Slama, Alberto Trevisani, Didier Aubry, Roberto Oboe

Istituto di Neuroriabilitazione Motoria San Camillo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper presents experiments results of a Generalized Predictive Control (GPC) extension, called Bilateral GPC (BGPC), for teleoperation systems. The originality of the proposed approach is principally characterized by its capacity to take into account the slave force feedback in the predictive algorithm in order to ensure a better tradeoff between the robust stability of the closed-loop system and its transparency. This bilateral predictive controller introduces a new prefilter which plays a key role to enhance robust stability of the overall control system to the detriment of performances. In this paper, the effects of this prefilter will be shown through experiments results in time domain with a comparison to those obtained with a PID controller. The experimental setup on a LAN (Local Area Network) is composed by PHANTOM Omni for the master and by a single degree of freedom translational mechanism for the slave.

Original language	English
Title of host publication	International Workshop on Advanced Motion Control, AMC
Pages	556-561
Number of pages	6
Volume	1
DOIs	https://doi.org/10.1109/AMC.2008.4516127
Publication status	Published - 2008
Event	10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy Duration: Mar 26 2008 → Mar 28 2008

Other

Other	10th International Workshop on Advanced Motion Control, AMC'08
Country	Italy
City	Trento
Period	3/26/08 → 3/28/08

ASJC Scopus subject areas

Computer Science Applications
Control and Systems Engineering
Electrical and Electronic Engineering
Modelling and Simulation

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Experiments results on robustness effects of a new prefilter in generalized predictive control : Application to bilateral teleoperation systems. / Slama, Tahar; Trevisani, Alberto; Aubry, Didier; Oboe, Roberto.

International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 556-561 4516127.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Slama, T, Trevisani, A, Aubry, D & Oboe, R 2008, Experiments results on robustness effects of a new prefilter in generalized predictive control: Application to bilateral teleoperation systems. in International Workshop on Advanced Motion Control, AMC. vol. 1, 4516127, pp. 556-561, 10th International Workshop on Advanced Motion Control, AMC'08, Trento, Italy, 3/26/08. https://doi.org/10.1109/AMC.2008.4516127

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