Revisiting Llewellyn's absolute stability criterion for bilateral teleoperation systems under non-passive operator or environment
Revisiting Llewellyn's absolute stability criterion for bilateral teleoperation systems under non-passive operator or environment
复制标题
重温非被动操作者或环境下双边遥操作系统卢埃林绝对稳定性判据
DOI：
10.1109/iros.2012.6385949
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
M. Tavakoli
中科院分区：
文献类型：
--
作者：
A. Jazayeri;M. Tavakoli
触觉遥操作系统的稳定性受到操作者和环境的典型不确定性、时变和/或未知动态的影响。对于独立于操作者和环境动态的稳定性分析，Llewellyn的绝对稳定性准则提出了表示远程操作者（包括主设备、控制器和通信信道以及从设备）的双端口网络上的某些条件，假设终端（即，操作者和环境）是被动的。这些都是不太准确的假设。我们希望把Llewellyn的结果推广到操作者或环境是非被动的情况。本文重新审视了卢埃林的标准，并放宽了其中一种终止的被动性假设。现实地假设可能的非无源端接具有复阻抗，其幅度或真实的部分分别具有上限或下限。虽然建议的稳定性标准是有用的任何应用程序的两端口网络系统，我们专门将它们应用于双边遥操作系统，并找到稳定条件时，操作员或环境是不是被动的，这是一个结果，卢埃林的绝对稳定性标准不能负担。
Stability of a haptic teleoperation system is influenced by the typically uncertain, time-varying and/or unknown dynamics of the operator and the environment. For a stability analysis that is independent of the operator and the environment dynamics, Llewellyn's absolute stability criterion proposes certain conditions on the two-port network representing the teleoperator (comprising the master, the controller and communication channel, and the slave) assuming that the terminations (i.e., the operator and the environment) are passive. These are less-than-accurate assumptions. It is desirable to extend Llewellyn's result to the cases where the operator or the environment is non-passive. This paper revisits Llewellyn's criterion and relaxes the assumption of passivity for one of the terminations. The possibly non-passive termination is realistically assumed to have a complex impedance with an upper or lower bound on its amplitude or real part, respectively. Although the proposed stability criteria are useful for any application of two-port network systems, we specifically apply them on bilateral teleoperation systems and find the stability conditions when the operator or the environment is not passive; this is a result that Llewellyn's absolute stability criterion cannot afford.