Unconditional stability analysis of dual-user teleoperation systems

Author

Khademian, Behzad ; Hashtrudi-Zaad, Keyvan

Author_Institution

Dept. of Electr. & Comput. Eng., Queen´´s Univ., Kingston, ON, Canada

fYear

2010

fDate

25-26 March 2010

Firstpage

161

Lastpage

166

Abstract

A novel method is presented for unconditional stability analysis of dual-user teleoperation systems. The method is based on the application of Llewellyn´s criterion to an equivalent two-port network of the system. Unlike unconditional stability of single-user systems which depends on the multi-port network parameters, the unconditional stability of dual-user systems also depends on the network port termination, in this case the environment impedance. The proposed robust stability analysis method is examined on two multilateral shared control architectures previously developed in.

Keywords

haptic interfaces; mobile robots; stability; telerobotics; Llewellyn criterion; dual user teleoperation systems; multilateral shared control architectures; multiport network parameters; network port termination; two port network; unconditional stability analysis; Circuit stability; Communication system control; Control systems; Impedance; Iron; Master-slave; Robust control; Robust stability; Stability analysis; Stability criteria; Dual-user Teleoperation Systems; Llewellyn´s Criterion; Passivity; Robust Stability; Unconditional Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Haptics Symposium, 2010 IEEE

Conference_Location

Waltham, MA

Print_ISBN

978-1-4244-6821-8

Electronic_ISBN

978-1-4244-6820-1

Type

conf

DOI

10.1109/HAPTIC.2010.5444660

Filename

5444660