@inproceedings{boukhnifer_scaled_2004,
	address = {New Orleans, LA, USA},
	title = {Scaled teleoperation controller design for micromanipulation over {Internet}},
	isbn = {978-0-7803-8232-9},
	url = {http://ieeexplore.ieee.org/document/1302439/},
	doi = {10.1109/ROBOT.2004.1302439},
	abstract = {Recent developments on microhano manipulation and internet technologies allow potential impacts on networkedmicro-automationof small industrial products. However, reliable and emcient tele-micromanipulation systems with haptic feedback over the Internet face to strong problems due to the nonlinear nature of microenvironment and time-varying delays in communication lines. Towards this end, this paper presents a robust bilateral controller design using H,-optimal control and p-synthesis frameworks. This approach allows a convenient means of tradeoff the optimization of various performance criteria (micro scale forcelposition) and robustness for a prespecified timedelay margin and force scaling factors. The validity of the proposed method is demonstrated by simulations and experiments for a pick-and-placemicromanipulationtask.},
	language = {en},
	urldate = {2023-04-17},
	booktitle = {{IEEE} {International} {Conference} on {Robotics} and {Automation}, 2004. {Proceedings}. {ICRA} '04. 2004},
	publisher = {IEEE},
	author = {Boukhnifer, M. and Ferreira, A. and Fontaine, J.-G.},
	year = {2004},
	pages = {4577--4583 Vol.5},
}

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