L2 stable four-channel control architecture for bilateral teleoperation with time delay

Daisuke Yashiro, Kouhei Ohnishi

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

9 Citations (Scopus)

Abstract

Passivity theory is very useful for stability analysis of bilateral teleoperation. Many researchers use passivity-based stabilization method such as scattering theory or wave variables. However, passivity-based stabilization is too conservative to design a high performance teleoperation system. High performance means that human operators can feel high-accuracy reaction force from environments. In this paper, we analyze l2 stability of some bilateral control systems with communication delay using small gain theorem. This theorem is renowned as a stable condition of multi-input multi-output feedback systems. And a novel control architecture which satisfies l2 stable condition of the theorem is proposed. The proposed control system has four communication channels. The validity of the proposed control system is shown by experimental results.

Original languageEnglish
Title of host publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Pages324-329
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Publication series

NameInternational Workshop on Advanced Motion Control, AMC
Volume1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

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

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    Yashiro, D., & Ohnishi, K. (2008). L2 stable four-channel control architecture for bilateral teleoperation with time delay. In AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 324-329). [4516087] (International Workshop on Advanced Motion Control, AMC; Vol. 1). https://doi.org/10.1109/AMC.2008.4516087