Automatica (Journal of IFAC)
HAPTICS '08 Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Small Gain Theorems for Large Scale Systems and Construction of ISS Lyapunov Functions
SIAM Journal on Control and Optimization
Passivity-based control for bilateral teleoperation: A tutorial
Automatica (Journal of IFAC)
Bilateral teleoperation: An historical survey
Automatica (Journal of IFAC)
Modeling and control of cooperative teleoperation systems
IEEE Transactions on Robotics
Passive Bilateral Teleoperation With Constant Time Delay
IEEE Transactions on Robotics
A control scheme for stable force-reflecting teleoperation over IP networks
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
An Internet-based distributed multiple-telerobot system
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Paper: Stability results for nonlinear feedback systems
Automatica (Journal of IFAC)
Brief Input-to-state stability of PD-controlled robotic systems
Automatica (Journal of IFAC)
Hi-index | 22.14 |
For cooperative force-reflecting teleoperation over networks, conventional passivity-based approaches have limited applicability due to nonpassive slave-slave interactions and irregular communication delays imposed by networks. In this paper, a small gain framework for stability analysis design of cooperative network-based force reflecting teleoperator systems is developed. The framework is based on a version of weak input-to-output practical stability (WIOPS) nonlinear small gain theorem that is applicable to stability analysis of large-scale network-based interconnections. Based on this result, we design a cooperative force-reflecting teleoperator system which is guaranteed to be stable in the presence of multiple network-induced communication constraints by appropriate adjustment of local control gains and/or force-reflection gains. Experimental results are presented that confirm the validity of the proposed approach.