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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages556-561
Number of pages6
Volume1
DOIs
Publication statusPublished - 2008
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: Mar 26 2008Mar 28 2008

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period3/26/083/28/08

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ASJC Scopus subject areas

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

Cite this

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, pp. 556-561). [4516127] https://doi.org/10.1109/AMC.2008.4516127