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Robust Stability of Teleoperation Systems with Time Delay: A New Approach
April-June 2013 (vol. 6 no. 2)
pp. 229-241
A. Haddadi, Dept. of Mech. Eng., Univ. of British Columbia, Vancouver, BC, Canada
K. Hashtrudi-Zaad, Dept. of Electr. & Comput. Eng., Queen's Univ., Kingston, ON, Canada
In this paper, we propose an approach to the control of linear teleoperation systems under time delays. Unlike traditional delay-robust control systems that guarantee passive communication channel through the transmission of wave variables, the new approach uses the concept of absolute stability for the physically expressive Lawrence's four-channel structure for transmitting the standard power variables, i.e., force and position. By incorporating kinesthetic performance requirements, we derive an absolutely stable four-channel controller that is transparent when time delay is negligible. Experimentally, the study evaluates and compares the performance of the proposed controller with that of a benchmark wave variable-based controller. The results indicate contact stability for large delays, a lack of position drift, and improved position and force tracking in both the free motion and rigid contact regimes for small delays.
Index Terms:
Impedance,Delay effects,Delay,Scattering,Stability criteria,Numerical stability,transparency,Teleoperation,time delay,coupled stability,absolute stability,passivity
A. Haddadi, K. Hashtrudi-Zaad, "Robust Stability of Teleoperation Systems with Time Delay: A New Approach," IEEE Transactions on Haptics, vol. 6, no. 2, pp. 229-241, April-June 2013, doi:10.1109/TOH.2012.52
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