{"title":"Teleoperation controller design using hierarchical genetic algorithm","authors":"K. Tang, K. Man, R. Istepanian","doi":"10.1109/ICIT.2000.854256","DOIUrl":null,"url":null,"abstract":"Hierarchical genetic algorithm (HGA) is formulated to design the H/sub /spl infin// controller for the teleoperation system used in microsurgery. Such a HGA is capable of searching the structure of the H/sub /spl infin// and its coefficients simultaneously. A multiple objective ranking scheme is also incorporated so that both the force and position transparency are optimized against any strictly passive environment.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2000-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIT.2000.854256","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 10
Abstract
Hierarchical genetic algorithm (HGA) is formulated to design the H/sub /spl infin// controller for the teleoperation system used in microsurgery. Such a HGA is capable of searching the structure of the H/sub /spl infin// and its coefficients simultaneously. A multiple objective ranking scheme is also incorporated so that both the force and position transparency are optimized against any strictly passive environment.
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