Stability analysis of scaled force-position control architecture with sensor noise

Teleoperation systems have been extensively analyzed for transparency and stability previously. There has been, however, little focus on performance and stability constraints like the presence of sensor noise and its effect on the stability of the teleoperation system. The effect of sensor noise becomes all the more important in case of macro-micro world interactions and in applications like tele-haptic cell manipulation. In this paper, we have selected scaled force-position control architecture to be used in tele-haptic cell manipulation systems due to its high position tracking capability. This paper aims at analyzing the stability of force-position control architecture in presence of sensor noise. The newly developed criteria for stability provides us guidelines to select the control parameters with which stability could be achieved while enhancing the performance in spite of the presence of sensor noise. Simulation results show the critical range of the new stability criteria based on the variation of the control parameters.