L2 stability analysis of four channel teleoperation and experiments under varying time delay

Ugur Tumerdem, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper analyses the L2 stability of four channel teleoperation systems under time delay. It is a well known fact that four channel architecture provides the best performance when no delay is present on the communication channels. However when delay is present four channel systems can not guarantee stability or good performance. The L2 analysis we present using small gain theorem indeed confirms that conventional four channel architecture is unstable when damping is not present in the contact surfaces. We propose the damping injection method for four channel teleoperators in order to make the architecture delay independently stable and we show with the same analysis that indeed L2 stability can be achieved given adequate damping injection is applied. We also present experiment results under varying time delay to confirm that the architecture is stable and provides good performance.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages643-648
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Tumerdem, U., & Ohnishi, K. (2010). L2 stability analysis of four channel teleoperation and experiments under varying time delay. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 643-648). [5464055] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464055