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Skip to Search Results- 3Absolute Stability
- 2Bilateral Teleoperation
- 1Bilateral Teleoperation Systems
- 1Discrete-time Control
- 1Llewellyn
- 1Non-passivity
- 2Electrical and Computer Engineering, Department of
- 1Electrical and Computer Engineering, Department of/Presentations (Electrical and Computer Engineering)
- 1Electrical and Computer Engineering, Department of/Journal Articles (Electrical and Computer Engineering)
- 1Graduate and Postdoctoral Studies (GPS), Faculty of
- 1Graduate and Postdoctoral Studies (GPS), Faculty of /Theses and Dissertations
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2013-01-01
Stability of a bilateral teleoperation system may be jeopardized by controller discretization, which has been shown to involve energy leaks. This paper proposes a novel approach to analyzing the absolute stability of sampled-data bilateral teleoperation systems consisting of discrete-time...
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Revisiting Llewellyn's Absolute Stability Criterion for Bilateral Teleoperation Systems under Non-passive Operator or Environment
Download2012-10-07
Stability of a haptic teleoperation system is influenced by the typically uncertain, time-varying and/or unknown dynamics of the operator and the environment. For a stability analysis that is independent of the operator and the environment dynamics, Llewellyn's absolute stability criterion...
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Stability of Bilateral Teleoperation Systems: Effect of Sampled-data Control and Non-passivity or Strict-Passivity of Terminations
DownloadFall 2013
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...