Robust Controller Design for Cancelling Biodynamic Feedthrough
نویسندگان
چکیده
There are many manual control tasks in which the operator base moves in response to joystick movement. Base motion feedback can interfere with the joystick and operator dynamics, resulting in instability and reduced performance. This paper proposes a novel approach to the cancellation of such “biodynamic feedthrough”. A model-based approach is used to formulate a μ-synthesis robust performance design problem that is solved by D-K iterations. The resultant controllers are robustly stable with respect to variations in the arm/joystick and biodynamic feedthrough parameters, while optimizing relevant performance measures. Experimental studies demonstrate the effectiveness of the designed controllers. The approach developed in this paper can be applied to any system involving teleoperation from movable bases.
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