Stability of Haptic Virtual Environments and Teleoperation Systems : Effect of Sampled-Data Control, Communication Delay and Active Operator

• Author / Creator

  Miandashti, Noushin

• 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

  • Sampled-Data
  • Teleoperation
  • HVE

• Graduation date

  Fall 2013

• Type of Item

  Thesis

• Degree

  Master of Science

• DOI

  https://doi.org/10.7939/R3PR7N151

• 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.