DocumentCode :
3382589
Title :
L2 stable four-channel control architecture for bilateral teleoperation with time delay
Author :
Yashiro, Daisuke ; Ohnishi, Kouhei
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama
fYear :
2008
fDate :
26-28 March 2008
Firstpage :
324
Lastpage :
329
Abstract :
Passivity theory is very useful for stability analysis of bilateral teleoperation. Many researchers use passivity-based stabilization method such as scattering theory or wave variables. However, passivity-based stabilization is too conservative to design a high performance teleoperation system. High performance means that human operators can feel high-accuracy reaction force from environments. In this paper, we analyze l2 stability of some bilateral control systems with communication delay using small gain theorem. This theorem is renowned as a stable condition of multi-input multi-output feedback systems. And a novel control architecture which satisfies h stable condition of the theorem is proposed. The proposed control system has four communication channels. The validity of the proposed control system is shown by experimental results.
Keywords :
MIMO systems; delays; feedback; scattering; stability; telerobotics; bilateral teleoperation; communication delay; l2 stable four-channel control architecture; multi-input multi-output feedback systems; passivity theory; scattering theory; stability analysis; time delay; Communication system control; Control systems; Delay effects; Delay systems; Feedback; Force control; Humans; Master-slave; Scattering; Stability analysis;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on
Conference_Location :
Trento
Print_ISBN :
978-1-4244-1702-5
Electronic_ISBN :
978-1-4244-1703-2
Type :
conf
DOI :
10.1109/AMC.2008.4516087
Filename :
4516087
Link To Document :
بازگشت