Stability Passivity And Performance Of Sampled-data Haptic Teleoperation Systems

Stability, passivity and performance of sampled-data haptic teleoperation systems

Researchers: Ali jazayeri, Mahdi Tavakoli

Summary:

A master-slave teleoperation system comprises a master robot controlled by a human operator and a slave robot mimicking the movements of the master robot. Such a system is typically controlled using a microprocessor or microcontroller. As a result, the system has discrete-time controllers whereas the master/slave robot dynamics and the environment/operator dynamics operate in the continuous-time. We aim to analyze the stability and passivity of the resulting sampled-data system and to design high-performing controllers for the system with minimal assumptions about the operator and the environment.

Related publications:

1. Ali Jazayeri, Mahdi Tavakoli, A Passivity Criterion for Sampled-data Bilateral Teleoperation Systems, IEEE Transactions on Haptics, vol. 6, no. 3, pp. 363-369, 2013. (IEEEXplore) (Postprint)
2. Ali Jazayeri and Mahdi Tavakoli, Absolute Stability Analysis of Sampled-Data Scaled Bilateral Teleoperation Systems, Control Engineering Practice (A Journal of IFAC), vol. 21, no. 8, pp. 1053–1064, 2013. (ScienceDirect) (Postprint)
3. Ali Jazayeri, "Stability of Bilateral Teleoperation Systems: Effect of Sampled-data Control and Non-passivity or Strict-Passivity of Terminations," PhD thesis, June 2013. (Dissertations database) (Pdf)
4. Ali Jazayeri, Mahdi Tavakoli, A passivity criterion for sampled-data bilateral teleoperation systems, World Haptics Conference, Istanbul, Turkey, 2011. (pdf) (Video)
5. Ali Jazayeri, Mahdi Tavakoli, Stability Analysis of Sampled-Data Teleoperation Systems, 2010 IEEE Conference on Decision and Control, Atlanta, GA, December 2010. (pdf)