Delay independent L2 stable multilateral teleoperation with damping injection

This paper introduces a method to realize multilateral teleoperation(multi operator/multi robot teleoperation) under time delay. This method provides stability regardless of the size of the delay and good performance including force feedback. We first introduce the four channel based multilateral control scheme to realize multilateral teleoperation and show using small gain theorem that as in traditional four channel bilateral control, the multilateral control scheme will be unstable. As a solution we propose adding local damping injection to the robots, and again employing the small gain theorem, we show that with adequate local damping the system can be made delay independent L₂ stable. We further confirm the validity of our method and analysis with experiment results.