Stability analysis via IQC for multilateral tele-control and application to multi-client/multi-coupling physical model system

Visual and auditory communication over the Internet has enabled communication unlike any humankind has experienced before. However, Internet communication based on haptic interfaces is not yet widespread. This study seeks to allow thousands of people to share the sense of force and enjoy Internet games such as tug-of-war by providing a stabilizing system able to overcome Internet communication delay. First, we derive non-positivity for the multi-coupling physical model. Second, we prove that a closed loop using a phase control filter is stable despite constant communication delay using Integral Quadratic Constraints (IQC). Finally, we validate our proposed system through a series of experiments with 8 clients.