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Bounded-Impedance Absolute Stability of Bilateral Teleoperation Control Systems
Found in: IEEE Transactions on Haptics
By Amir Haddadi, Keyvan Hashtrudi-Zaad
Issue Date:January 2010
pp. 15-27
Available passivity-based robust stability methods for bilateral teleoperation control systems are generally conservative, as they consider an unbounded range of dynamics for the class of passive operators and environments in the complex plane. In this pap...
Least conservative robust stability condition for linear bilateral teleoperation control systems
Found in: World Haptics Conference
By Amir Haddadi, Keyvan Hashtrudi-Zaad
Issue Date:March 2009
pp. 220-225
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 i...