This Article 
   
 Share 
   
 Bibliographic References 
   
 Add to: 
 
Digg
Furl
Spurl
Blink
Simpy
Google
Del.icio.us
Y!MyWeb
 
 Search 
   
World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Least conservative robust stability condition for linear bilateral teleoperation control systems
Salt Lake City, UT, USA
March 18-March 20
ISBN: 978-1-4244-3858-7
Amir Haddadi, Department of Electrical and Computer Engineering, Queen's University, Kingston, ON K7L 3N6, Canada
Keyvan Hashtrudi-Zaad, Department of Electrical and Computer Engineering, Queen's University, Kingston, ON K7L 3N6, Canada
In this paper, we analyze the stability robustness of teleoperation systems, coupled to operators and environments with finite range of dynamic variations. A new graphical extension of the scattering-based absolute stability method [5] is proposed, which incorporates minimum inherent damping of the operator as well as bounds on the environment impedance. The proposed method provides both mathematical and visual aid for the determination of passive or active environment regions that result in coupled stability. Our rigorous studies have shown that for potentially unstable systems, as the operator minimum damping grows, the environment stability region grows to include all passive environments.
Citation:
Amir Haddadi, Keyvan Hashtrudi-Zaad, "Least conservative robust stability condition for linear bilateral teleoperation control systems," whc, pp.220-225, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009
Usage of this product signifies your acceptance of the Terms of Use.