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Sparse realizations of optimal finite-precision teleoperation controller structures

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
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. pp. 687-691 .

Record type: Conference or Workshop Item (Other)

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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More information

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

Identifiers

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: 24 Jan 2022 18:02

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Contributors

Author: R. H. Istepanian
Author: J. Wu
Author: S. Chen

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