Title :
An IQC formulation of stability analysis for bilateral teleoperation systems with time delays
Author_Institution :
Delft Center for Syst. & Control (DCSC), Tech. Univ. Delft, Delft, Netherlands
Abstract :
Many teleoperation applications exhibit significant communication delays between operator commands and the resulting actions at the remote site. In this paper we present the stability analysis of bilateral teleoperation systems in the face of passive human/environment operators and communication time delays via the so-called Integral Quadratic Constraints (IQCs) framework.
Keywords :
delays; linear matrix inequalities; stability; telerobotics; bilateral teleoperation systems; communication time delays; integral quadratic constraints framework; stability analysis; Delay; Delay effects; Frequency domain analysis; Humans; Robustness; Stability analysis; Uncertainty; Integral Quadratic Constraints (IQC); Robust Stability; Teleoperation; Unconditional Stability;
Conference_Titel :
World Haptics Conference (WHC), 2011 IEEE
Conference_Location :
Istanbul
Print_ISBN :
978-1-4577-0299-0
Electronic_ISBN :
978-1-4577-0297-6
DOI :
10.1109/WHC.2011.5945537
