Stability analysis of sampled-data teleoperation systems

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2010, Pages 3608-3613

  Jazayeri, Ali ^a   Tavakoli, Mahdi ^a  

^a UNIVERSITY OF ALBERTA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

CLOSED LOOP SYSTEMS; CONTROLLERS; REMOTE CONTROL;

ABSOLUTE STABILITY CONDITION; ARBITRARY OPERATORS; CLOSED LOOP STABILITY; CONTROLLER PARAMETER; ENVIRONMENT DYNAMICS; HAPTIC TELEOPERATION; SMALL GAIN THEOREM; TELEOPERATION SYSTEMS;

SYSTEM STABILITY;

EID: 79953142012     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2010.5718117     Document Type: Conference Paper

References (19)

1. P. F. Hokayem and M. W. Spong, "Bilateral teleoperation: An historical survey," Automatica, vol. 42, no. 12, pp. 2035-2057, 2006.
2. P. Arcara and C. Melchiorri, "Control schemes for teleoperation with time delay: A comparative study," Robotics and Autonomous Systems, no. 38, pp. 49-64, 2002.
3. D. A. Lawrence, "Stability and transparency in bilateral teleoperation," IEEE Transactions on Robotics & Automation, vol. 9, pp. 624-637, October 1993.
4. A. Aziminejad, M. Tavakoli, R. Patel, and M. Moallem, "Transparent time-delayed bilateral teleoperation using wave variables," Control Systems Technology, IEEE Transactions on, vol. 16, pp. 548-555, may 2008.
5. Y. Matsuoka and R. Howe, "Hand impedance change during learning of a novel contact task," in World Congress on Medical Physics and Biomedical Engineering, 2000.
6. B. Hannaford, "A design framework for teleoperators with kinesthetic feedback," IEEE Transactions on Robotics and Automation, vol. 5, pp. 426-434, 1989.
7. S. Haykin, Active Network Theory. Reading, MA: Addison-Wesley, 1970.
8. R. J. Anderson and M. W. Spong, "Asymptotic Stability for Force Reflecting Teleoperators with Time Delay," The International Journal of Robotics Research, vol. 11, no. 2, pp. 135-149, 1992.
9. R. Gillespie and M. Cutkosky, "Stable user-specific rendering of the virtual wall," in Proceedings of the ASME International Mechanical Engineering Conference and Exposition, vol. 58, (Atlanta, GA), pp. 397-406, November 1996.
10. J. Artigas, C. Preusche, G. Hirzinger, G. Borghesan, and C. Melchiorri, "Bilateral energy transfer in delayed teleoperation on the time domain," pp. 671-676, may 2008.
11. G. Leung and B. Francis, "Bilateral control of teleoperators with time delay through a digital communication channel," in Proceedings of the Thirtieth Annual Allerton Conference on Communication, Control and Computing, pp. 692-701, 1992.
12. J. Sheng and P. Liu, "A review of bilateral sampled-data control of teleoperators," pp. 385-390, aug. 2004.
13. R. Anderson, "Building a modular robot control system using passivity and scattering theory," in Proceedings of IEEE International Conference on Robotics and Automation, vol. 1, (Minneapolis, MN), pp. 698-705, April 1996.
14. S. Stramigioli, C. Secchi, A. van der Schaft, and C. Fantuzzi., "A novel theory for sample data system passivity," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, (Lausanne, Switzerland), pp. 1936-1941, 2002.
15. M. Tavakoli, A. Aziminejad, R. Patel, and M. Moallem, "Discretetime bilateral teleoperation: modelling and stability analysis," Control Theory and Applications, IET, vol. 2, pp. 496-512, June 2008.
16. J. Colgate and G. Schenkel, "Passivity of a class of sampled-data systems: Application to haptic interfaces," Journal of Robotic Systems, vol. 14, no. 1, pp. 37-47, 1997.
17. J. Abbott and A. Okamura, "Effects of position quantization and sampling rate on virtual-wall passivity," Robotics, IEEE Transactions on, vol. 21, pp. 952-964, oct. 2005.
18. J.-H. Ryu, B. Hannaford, C. Preusche, and G. Hirzinger, "Time domain passivity control with reference energy behavior," vol. 3, pp. 2932-2937 vol.3, oct. 2003.
19. N. Diolaiti, G. Niemeyer, F. Barbagli, and J. Salisbury, "Stability of haptic rendering: Discretization, quantization, time delay, and coulomb effects," Robotics, IEEE Transactions on, vol. 22, pp. 256-268, april 2006.