Title :
A Framework for Unconditional Stability Analysis of Multimaster/Multislave Teleoperation Systems
Author :
Khademian, B. ; Hashtrudi-Zaad, Keyvan
Author_Institution :
Dept. of Electr. & Comput. Eng., Queen´s Univ., Kingston, ON, Canada
Abstract :
A novel robust stability analysis framework is presented for unconditional stability analysis of multimaster/multislave teleoperation systems. Unlike the unconditional stability criterion for single-user systems, the newly proposed criteria for unconditional stability of multimaster/multislave teleoperation systems depend on the multiport network parameters and the port terminations. In addition to the analytical solution, the graphical demonstration of the unconditional stability region facilitates the analysis of coupled stability against variations in the dynamics of the environments and operators, even when they behave actively. The proposed robust stability analysis framework is examined on two multilateral shared control architectures that were previously developed for dual-user teleoperation systems.
Keywords :
multi-robot systems; multivariable control systems; stability criteria; telerobotics; coupled stability analysis; dual-user teleoperation systems; graphical demonstration; multilateral shared control architectures; multimaster-multislave teleoperation systems; multiport network parameters; port terminations; robust stability analysis framework; single-user systems; unconditional stability analysis; unconditional stability region; Asymptotic stability; Impedance; Matrix converters; Ports (Computers); Scattering; Stability criteria; Llewellyn’s criterion; multiport network; passivity; robust stability; scattering domain; stability circle; teleoperation; unconditional stability;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2013.2242377