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

Daisuke Yashiro, Kenji Natori, Kouhei Ohnishi

研究成果: Article査読

5 被引用数 (Scopus)


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.

ジャーナルieej transactions on industry applications
出版ステータスPublished - 2009

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学


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