EE Seminar: Dr. Maxim Kristalny, Technion

~~(The talk will be given in English)

Dr. Maxim Kristalny
Technion, Faculty of Mechanical Engineering
Monday, January 19, 2015
15:00 - 16:00
Room 011, Kitot Bldg., Faculty of Engineering

Optimal control of bilateral teleoperation systems with delays
Abstract
Teleoperation systems are used to expand an operator’s ability to unreachable places in such areas as nuclear power, space and deep sea exploration, medical surgery, etc. Due to the very nature of teleoperation,  time delays associated with communication between the local and the remote sites are ofter inevitable and can not be neglected. Handling the delays is especially problematic in the case of bilateral teleoperation, where the measurements are communicated in both directions to allow haptic feedback. In this case, both "master" and "slave" devices should be considered as dynamical systems. The need to coordinate their behavior falls into a category of challenging control problems with information constraints. In this talk, I will demonstrate how recent theoretical developments in the areas of distributed control and delayed systems may lead to a novel method for the synthesis of teleoperation controllers. The proposed approach reveals a convenient structure possessed by all stabilizing controllers and allows derivation of explicit sate-space formulae for the H2 optimal solution in spite of the distributed nature of the considered problem. Possible extensions of the proposed approach for cooperative teleoperation systems and shared virtual environment will be discussed.