Stability conditions for asymmetric dual-user shared control method with uncertain time delay

This paper presents a novel method- asymmetric dual-user shared control method to enhance the variety of the training mode and improve the flexibility of the dual-user tele-manipulation process. Firstly, we model the novel dual-user shared control architecture with multi-dominance factors and analysis the relationship between the proposed method and the original one. Then, several performance measuring functions are built to analysis and conclude some properties such as the system transparency and movement tracking performance influenced by impedance or dominance factors. Furthermore, we presented the system stability conditions with uncertain communicating delay using passivity theory, as well as the results in ideal transparency and ignoring the effect of all dominance factors. The whole paper is concluded in the end.