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Stability of Haptic Virtual Environments and Teleoperation Systems : Effect of Sampled-Data Control, Communication Delay and Active Operator
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- Author / Creator
- Miandashti, Noushin
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Three factors can jeopardize the stability of haptic virtual environments
(HVE)s and teleoperation systems: (a) delayed communication
channel, (b) controller discretization and (c) active operator
intervention. This thesis studies the stability of these systems and
investigates the simultaneous effect of all three de-stabilizing factors
via a proposed unified framework. The conditions that ensure
the stability of these systems are derived and reported. This thesis
also addresses the stability problem in the context of teleoperation
systems in the four-channel architecture in a passivity-based framework.
While it is assumed that the teleoperation system operates
in continuous-time and the terminations are passive, the communication
delay is compensated for and the stability conditions are
derived. -
- Subjects / Keywords
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- Graduation date
- Fall 2013
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- Type of Item
- Thesis
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- Degree
- Master of Science
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- License
- This thesis is made available by the University of Alberta Libraries with permission of the copyright owner solely for non-commercial purposes. This thesis, or any portion thereof, may not otherwise be copied or reproduced without the written consent of the copyright owner, except to the extent permitted by Canadian copyright law.