An LMI Approach to Guaranteed Cost Control Design for Teleoperation Systems

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/636451/figures/636451.fig.005a.svgz" name="636451.fig.005a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Position tracking performance</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/636451/figures/636451.fig.005b.svgz" name="636451.fig.005b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Velocity tracking performance</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/636451/figures/636451.fig.005c.svgz" name="636451.fig.005c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Cost function <svg height="11.6478pt" id="M159" style="vertical-align:-2.35947pt" version="1.1" viewbox="-0.0498162 -9.28833 24.0441 11.6478" width="24.0441pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M552 193C513 158 474 139 434 124L521 332C589 345 647 385 683 456L667 467C628 408 587 378 536 366C581 469 634 567 688 606C732 606 792 611 792 654C792 666 779 674 768 674C755 674 738 674 702 654C661 657 642 660 575 660C460 660 306 603 306 464C306 388 356 346 427 331C390 254 361 158 324 86C256 65 186 46 134 22C49 -18 9 -65 9 -112C9 -151 39 -177 87 -177C217 -177 352 -37 416 85C472 105 523 138 567 177L552 193ZM639 605C551 541 494 462 443 363C392 363 347 402 347 454C347 522 408 570 466 591C497 602 549 608 596 608C611 608 626 607 639 606V605ZM302 43C238 -73 172 -147 87 -147C64 -147 51 -129 51 -110C51 -86 66 -50 139 -13C183 10 241 23 302 43Z" id="g198-11"></path><glyph.data ascent="687" descent="-226" horiz-adv-x="802" vert-adv-y="802"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,10.426,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z" id="g113-41"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="346" vert-adv-y="346"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,14.924,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="341" vert-adv-y="341"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,19.357,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z" id="g113-42"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="346" vert-adv-y="346"></glyph.data></g></svg></td></tr></table>

<div>Simulation results when human and environment forces are nonlinear.</div>

Mathematical Problems in Engineering

fig5

Figure 5

Figure 5: An LMI Approach to Guaranteed Cost Control Design for Teleoperation Systems 