Analysis and evaluation of stability and performance robustness for teleoperation control architectures

TitleAnalysis and evaluation of stability and performance robustness for teleoperation control architectures
Publication TypeConference Paper
Year of Publication2000
AuthorsHashtrudi-Zaad, K., and S. E. Salcudean
Conference NameRobotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Pagination3107 -3113 vol.4
Keywordsabsolute stability, bilateral controller design, communication-channel delays, control system synthesis, delays, dynamic ranges, dynamic uncertainties, four-channel bilateral control architectures, minima, minimisation, passivity-based Llewellyn two-port network absolute stability criterion, performance robustness, robust control, stability criteria, telecontrol, teleoperation control architectures, transmitted impedances, two-channel bilateral control architectures, Z-widths
Abstract

Teleoperation systems are subject to operator and environment dynamic uncertainties as well as communication-channel delays. For the first time in the context of teleoperation, the passivity-based Llewellyn's two-port network absolute stability criterion as well as the minima and the dynamic ranges (Z-widths) of the operator and environment transmitted impedances are employed to analyze stability and performance robustness of two and four channels bilateral control architectures. The results of these evaluations and the above analysis tools provide a framework for robust bilateral controller design

URLhttp://dx.doi.org/10.1109/ROBOT.2000.845141
DOI10.1109/ROBOT.2000.845141

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