Absolute stability analysis of sampled-data scaled bilateral teleoperation systems
نویسندگان
چکیده
منابع مشابه
Absolute Stability Analysis of Sampled-Data Scaled Bilateral Teleoperation Systems
Stability of a bilateral teleoperation system may be jeopardized by controller discretization, which has been shown to involve energy leaks. This paper proposes a novel approach to analyzing the absolute stability of sampled-data bilateral teleoperation systems consisting of discrete-time controllers and continuous-time master, slave, operator, and environment. The proposed stability analysis p...
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A bilateral teleoperation system comprises a human operator, a teleoperator, and an environment. The teleoperator consists of a master robot, a slave robot, their controllers, and a communication channel between the master and the slave. Since the exact models of the teleoperator’s terminations, namely the human operator and the environment, are typically unknown and/or time-varying, passivity ...
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ژورنال
عنوان ژورنال: Control Engineering Practice
سال: 2013
ISSN: 0967-0661
DOI: 10.1016/j.conengprac.2013.04.002