TY - GEN
T1 - Robust stability analysis of bilateral teleoperation systems using admittance-type devices
AU - Peer, Angelika
AU - Buss, Martin
PY - 2008
Y1 - 2008
N2 - 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. Simple linear models are assumed for human operator, human-system interface, teleoperator as well as remote environment. The parameter space method is used for controller design, as well as for robustness analysis. Finally, Γ-stability of the presented architectures is evaluated for a one degree-of-freedom mechatronic teleoperation system.
AB - 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. Simple linear models are assumed for human operator, human-system interface, teleoperator as well as remote environment. The parameter space method is used for controller design, as well as for robustness analysis. Finally, Γ-stability of the presented architectures is evaluated for a one degree-of-freedom mechatronic teleoperation system.
KW - Bilateral teleoperation
KW - Parameter space approach
KW - Robust stability
UR - http://www.scopus.com/inward/record.url?scp=56749164890&partnerID=8YFLogxK
U2 - 10.1109/SICE.2008.4655156
DO - 10.1109/SICE.2008.4655156
M3 - Conference contribution
AN - SCOPUS:56749164890
SN - 9784907764296
T3 - Proceedings of the SICE Annual Conference
SP - 2883
EP - 2889
BT - Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
T2 - SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Y2 - 20 August 2008 through 22 August 2008
ER -