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Stability of Bilateral Teleoperation Systems: Effect of Sampled-data Control and Non-passivity or Strict-Passivity of Terminations Open Access


Other title
Discrete-time Control
Teleoperation Passivity
Absolute Stability
Stability of Teleoperation
Sampled-data Control
Bilateral Teleoperation Systems
Type of item
Degree grantor
University of Alberta
Author or creator
Jazayeri Moghadas, Seyed Ali
Supervisor and department
Dr. Mahdi Tavakoli (Electrical and Computer Engineering)
Examining committee member and department
Dr. Jinfeng Liu (Chemical and Materials Engineering)
Dr. Ilia Polushin (Electrical and Computer Engineering, University of Western Ontario)
Dr. Tongwen Chen (Electrical and Computer Engineering)
Dr. Qing Zhao (Electrical and Computer Engineering)
Department of Electrical and Computer Engineering
Control Systems
Date accepted
Graduation date
Doctor of Philosophy
Degree level
A bilateral teleoperation system comprises a human operator, a teleoperator, and an environment. The teleoperator consists of a master, a slave, their controllers, and a communication channel. Since the models of the terminations namely the human operator and the environment are unknown and/or time-varying, passivity or absolute stability of the teleoperator is considered for ensuring the stability. This stability analysis typically relies on two assumptions: (a) the system is continuous-time, and (b) the terminations are passive. This dissertation studies the stability implications of violation of either assumption. The stability of a bilateral teleoperation system may be jeopardized by controller discretization due to energy-distilling effects of a zero-order-hold. In this dissertation, a tool is developed to analyze the passivity of the sampled-data teleoperator. In the passivity framework, the teleoperation system is guaranteed to be passive and, therefore, stable for any passive and otherwise arbitrary terminations. Sufficient conditions for teleoperator passivity are derived when teleoperation controllers operate in discrete-time. The criterion is verified through simulations and experiments. A less conservative approach to guaranteeing the coupled system's stability is teleoperator's absolute stability. This dissertation proposes a novel approach to analyzing the absolute stability of a bilateral teleoperation system consisting of discrete-time controllers and continuous-time master, slave, operator, and environment. The resulting condition has been verified via experiments. In the passivity and absolute stability analyses, the exact models for the teleoperator's terminations are not available. To make the stability analysis independent of the termination models, it is typically assumed that they are passive but otherwise arbitrary. However, the assumption of passivity of the terminations is less than accurate and may be violated in practice. Using Mobius transformations, we develop a new stability analysis tool for investigating the stability of a two-port network when coupled to an input strictly-passive, an output strictly-passive, an input non-passive, or a disc-like non-passive termination. Simulations and experiments are reported.
Permission is hereby granted to the University of Alberta Libraries to reproduce single copies of this thesis and to lend or sell such copies for private, scholarly or scientific research purposes only. Where the thesis is converted to, or otherwise made available in digital form, the University of Alberta will advise potential users of the thesis of these terms. The author reserves all other publication and other rights in association with the copyright in the thesis and, except as herein before provided, neither the thesis nor any substantial portion thereof may be printed or otherwise reproduced in any material form whatsoever without the author's prior written permission.
Citation for previous publication
A. Jazayeri and M. Tavakoli. A passivity criterion for sampled-data bilateral teleoperation systems. IEEE Transactions on Haptics, (2012), 2012. doi: 10. 1109/TOH.2012.73.A. Jazayeri and M. Tavakoli. A passivity criterion for sampled-data bilateral teleoperation systems. In Proceedings of World Haptics Conference, Istanbul, Turkey, 2011.A. Jazayeri and M. Tavakoli. Absolute stability analysis of sampled-data scaled bilateral teleoperation systems. Control Engineering Practice, 21(8):1053-1064, 2013.A. Jazayeri and M. Tavakoli. Stability analysis of sampled-data teleoperation systems. In Proceedings of Conference on Decision and Control, pages 3608-3613, Atlanta, GA, 2010.A. Jazayeri and M. Tavakoli. Revisiting Llewellyns absolute stability criterion for bilateral teleoperation systems under non-passive operator or environment. In Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), volume 1, pages 70-75, Vilamoura, Portugal, 2012.A. Jazayeri, M. Dyck, and M. Tavakoli. Stability analysis of teleoperation systems under strictly passive and non-passive operator. In Proceedings of the IEEE World Haptics Conference, Daejeon, Korea, 2013.M. Dyck, A. Jazayeri, and M. Tavakoli. Is the human operator in a teleoperation system passive? In Proceedings of the IEEE World Haptics Conference, Daejeon, Korea, 2013.

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