21世紀COE「超ロバスト計算原理プロジェクト」最適化/制御 セミナー

投稿日:2005/11/28投稿者:石井秀明
        東京大学工学部計数工学科 システム情報談話会
21世紀COE「超ロバスト計算原理プロジェクト」最適化/制御 セミナー

日時: 12月5日(月) 10:30〜12:00

場所: 東京大学本郷キャンパス 工学部6号館 3階 セミナー室A/D
      (アクセス)

講演者:Dr. Sandra Hirche (東京工業大学,客員研究員)

題目:Networked Telepresence and Control Systems - Stability
    and Performance Issues

概要:
Networked telepresence and control systems have in common that
a control loop is closed over a communication network. The inherent
time delay may destabilize the control loop and influences the system
performance. For an efficient use of the communication resources
network traffic reduction is desirable.
In the first part of the talk network traffic reduction by deadband
control in telepresence systems is addressed.  Stability independently
of the time delay is guaranteed by the extension of the well-known
passivity based approach using scattering transformation. For the
performance (transparency) evaluation the human haptic perception plays
an important role. Therefore human user studies are performed showing
that a network traffic reduction of up to 90% is possible without
perceivable transparency degradation.
In the second part of the talk preliminary results for a novel control
approach for networked control systems (NCS) are presented.
Independent-of-delay stability is guaranteed using passivity and L2 gain
techniques.  Main feature is a special linear transformation of the
input and output signals of controller and plant which can be
interpreted as a generalization of the scattering transformation. As a
result the energetic input-output behavior of the plant is preserved
through the subsystem comprising plant and network.  Interesting
properties are: controller design without considering network delay,
nominal behavior for zero delay, and graceful performance degradation
with increasing delay. Simulations and experiments validate the
approach.