Controller realizations of a teleoperated dual-wrist assembly system with finite word length considerations

This paper presents some implementation issues of finite-precision optimal and quasioptimal sparse H-infinity, controller structures applied to a tele operated dual-wrist assembly system. The relevant stability robustness meas ures and the optimization search procedures for both the optimal and the qu asioptimal sparse Finite Word Length (FWL) controller realizations are desc ribed. Comparative analytical and numerical results show that the sparse FW L controller realizations provide minimum bit lengths, with maximum trivial elements in the controller coefficients and higher stability bounds compar ed to nonoptimal realization, The results illustrate that the FWL methodolo gy presented provides better implementation structures, increased computati onal speed and FWL stability for teleoperated motion-scaling control system s.