Stability of sampled-data, delayed haptic interaction and teleoperation

摘要: This paper proposes a unified framework to study the stability of sampled-data, haptic virtual environment (HVE) systems and sampled-data position-error-based (PEB) bilateral teleoperation based on discrete-time circle criterion. Communication time delay controller discretization are two major factors that jeopardize system stability. We provide for analysis in which both these destabilizing can be addressed. In this paper, first well-known Colgates condition 1-user with passive operator is reproduced different manner then extended case where exist communication channel. Then, it shown using same method, dealt similar manner. Simulation results confirm validity proposed conditions HVE PEB systems.