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
  • Graduation date
  • Type of Item
  • Degree
    Master of Science
  • DOI
  • 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.
  • Language
  • Institution
    University of Alberta
  • Degree level
  • Department
    • Department of Electrical and Computer Engineering
  • Specialization
    • Biomedical Engineering
  • Supervisor / co-supervisor and their department(s)
    • Tavakoli, Mahdi (Electrical and Computer Engineering)
  • Examining committee members and their departments
    • Dubljevic, Stevan (Chemical Engineering)
    • Zhao, Qing (Electrical and Computer Engineering)