L2-stable bilateral control system with time-varying communication delay

Daisuke Yashiro, Kenji Natori, Kouhei Ohnishi

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

Passivity theory is a very useful tool for the stability analysis of bilateral teleoperation with communication delay. Many researchers use passivity-based stabilization method such as those based on scattering theory or wave variables. However, passivity-based stabilization is too conservative for the design of a high-performance teleoperation system. The term "high-performance" implies that people who operate this system can experience a highly accurate reaction force from environments. In this study, we analyze the L2-stability of some bilateral control systems with time-varying communication delay by using the small-gain theorem. The small-gain theorem is known to be a stability condition for multi-input multi-output feedback systems. Additionally a novel ontrol structure for the bilateral control system with communication delay is proposed. The bilateral control system with the proposed structure satisfies the L2-stability condition of the small-gain theorem. The experimental results show the utility of the proposed control structure.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume129
Issue number7
DOIs
Publication statusPublished - 2009

Fingerprint

Control systems
Communication
Remote control
Stabilization
Scattering
Feedback

Keywords

  • Bilateral control
  • Haptics
  • Lstability
  • Passivity
  • Small-gain theorem
  • Time-varying communication delay

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

L2-stable bilateral control system with time-varying communication delay. / Yashiro, Daisuke; Natori, Kenji; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 129, No. 7, 2009.

Research output: Contribution to journalArticle

Yashiro, Daisuke ; Natori, Kenji ; Ohnishi, Kouhei. / L2-stable bilateral control system with time-varying communication delay. In: IEEJ Transactions on Industry Applications. 2009 ; Vol. 129, No. 7.
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