지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 1,762 - 1,767 (6page)
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초록· 키워드
오류제보하기
Telesurgery has come to the forefront because of many merits such as a small incision, less bleeding and a short period of hospitalization. By means of internet, telesurgery is practical even the master and the slave are not physically in the same place. Internet, however, causes communication constraints such as time-varying delay and packet loss which induce instability and performance degradations in teleoperation systems. In this paper, we consider teleoperation systems including bilateral communications with asynchronous packet loss and time-varying delay. We define teleoperation sytsems as polytopic linear differential inclusions (PLDIs) to cope with switchings between subsystems which are divided by the status of communication channels. A sufficient condition which guarantees asymptotic stability and H<SUB>∞</SUB> performance is derived for teleoperation systems modeled as PLDIs. Then, we propose a H<SUB>∞</SUB> control design method, using linear matrix inequalities (LMIs).
목차
Abstract
1. INTRODUCTION
2. SYSTEM MODELING
3. MAIN RESULTS
4. DISCUSSION
5. CONCLUSION
REFERENCES
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