Robust stability analysis of a bilateral teleoperation system using the parameter space approach

One of the main challenges in telerobotics is the selection of control architectures and control parameters, which are able to robustly stabilize the overall teleoperation system despite of changing human operator and environment impedances. In this paper robust stability of different types of bilateral control algorithms for admittance-type devices is analyzed. Hereby stability of the system is investigated by using the parameter space approach, which allows the analysis of uncertain systems with varying plant parameters. Stability of the teleoperation system is analyzed by using linear models for human-system interface and teleoperator. The parameter space approach is adopted for controller design as well as for robustness analysis. Robust stability of the presented control architectures is evaluated for a real mechatronic teleoperation system.