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.
- Bilateral control
- Small-gain theorem
- Time-varying communication delay
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering