Sparse realizations of optimal finite-precision teleoperation controller structures
Sparse realizations of optimal finite-precision teleoperation controller structures
We study the finite word length (FWL) implementation of digital controller structures with sparseness consideration. A FWL stability measure is derived, taking into account the number of trivial elements in a controller realization. The controller realization that maximizes a lower bound of this measure is first obtained, and a stepwise algorithm is then applied to make the realization sparse. A test case involving a dual wrist assembly shows that the proposed design procedure yields a computationally efficient controller realization with good FWL closed-loop stability performance.
687-691
Istepanian, R. H.
b71b8b46-cb69-4fcd-8253-d2e7a93079ea
Wu, J.
5a0119e5-a760-4ff5-90b9-ec69926ce501
Chen, S.
9310a111-f79a-48b8-98c7-383ca93cbb80
2000
Istepanian, R. H.
b71b8b46-cb69-4fcd-8253-d2e7a93079ea
Wu, J.
5a0119e5-a760-4ff5-90b9-ec69926ce501
Chen, S.
9310a111-f79a-48b8-98c7-383ca93cbb80
Istepanian, R. H., Wu, J. and Chen, S.
(2000)
Sparse realizations of optimal finite-precision teleoperation controller structures.
Proceedings of 2000 American Control Conference.
.
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Abstract
We study the finite word length (FWL) implementation of digital controller structures with sparseness consideration. A FWL stability measure is derived, taking into account the number of trivial elements in a controller realization. The controller realization that maximizes a lower bound of this measure is first obtained, and a stepwise algorithm is then applied to make the realization sparse. A test case involving a dual wrist assembly shows that the proposed design procedure yields a computationally efficient controller realization with good FWL closed-loop stability performance.
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Published date: 2000
Additional Information:
Presented at: 2000 American Control Conference (Chicago, USA), June 28-30, 2000.
Venue - Dates:
Proceedings of 2000 American Control Conference, 2000-01-01
Organisations:
Southampton Wireless Group
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Local EPrints ID: 251078
URI: http://eprints.soton.ac.uk/id/eprint/251078
PURE UUID: 1c3159b3-44be-4021-9b09-9e2326d0c631
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Date deposited: 20 Jul 2000
Last modified: 14 Mar 2024 05:08
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Author:
R. H. Istepanian
Author:
J. Wu
Author:
S. Chen
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