Analysis and evaluation of stability and performance robustness for teleoperation control architectures

Teleoperation systems are subject to operator and environment dynamic uncertainties as well as communication-channel delays. For the first time in the context of teleoperation, the passivity-based Llewellyn´s two-port network absolute stability criterion as well as the minima and the dynamic ranges (Z-widths) of the operator and environment transmitted impedances are employed to analyze stability and performance robustness of two and four channels bilateral control architectures. The results of these evaluations and the above analysis tools provide a framework for robust bilateral controller design