Imperial College London

ProfessorRobertIstepanian

Faculty of MedicineInstitute of Global Health Innovation

Visiting Professor
 
 
 
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Contact

 

+44 (0)7554 342 293robert.istepanian Website

 
 
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Location

 

Central FacultyFaculty BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Istepanian:2001:10.1109/87.930973,
author = {Istepanian, RSH and Wu, J and Whidborne, JF},
doi = {10.1109/87.930973},
journal = {IEEE Transactions on Control Systems Technology},
pages = {624--628},
title = {Controller realizations of a teleoperated dual-wrist assembly system with finite word length considerations},
url = {http://dx.doi.org/10.1109/87.930973},
volume = {9},
year = {2001}
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - This paper presents some implementation issues of finite-precision optimal and quasioptimal sparse H∞ controller structures applied to a teleoperated dual-wrist assembly system. The relevant stability robustness measures and the optimization search procedures for both the optimal and the quasioptimal sparse Finite Word Length (FWL) controller realizations are described. Comparative analytical and numerical results show that the sparse FWL controller realizations provide minimum bit lengths, with maximum trivial elements in the controller coefficients and higher stability bounds compared to nonoptimal realization. The results illustrate that the FWL methodology presented provides better implementation structures, increased computational speed and FWL stability for teleoperated motion-scaling control systems.
AU - Istepanian,RSH
AU - Wu,J
AU - Whidborne,JF
DO - 10.1109/87.930973
EP - 628
PY - 2001///
SN - 1063-6536
SP - 624
TI - Controller realizations of a teleoperated dual-wrist assembly system with finite word length considerations
T2 - IEEE Transactions on Control Systems Technology
UR - http://dx.doi.org/10.1109/87.930973
VL - 9
ER -