A small gain framework for networked cooperative force-reflecting teleoperation

Polushin, Ilia G.; Dashkovskiy, Sergey; Takhmar, Amir; Patel, Rajni V.

doi:10.1016/j.automatica.2012.11.001

Cited by 70 publications

(56 citation statements)

References 27 publications

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“…In this section, we present a small-gain theorem, Theorem 2 below, which is a version of Abdessameud et al (2014a, Theorem 1) and is also a special case of the result given in Polushin, Dashkovskiy, Takhmar, and Patel (2013); in particular, its proof follows the same lines as in the proof in Abdessameud et al (2014a, Theorem 1), and hence, is omitted.…”

Section: Appendix a Proof Of Propositionmentioning

confidence: 94%

Synchronization of nonlinear systems with communication delays and intermittent information exchange

2015

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Section: Appendix a Proof Of Propositionmentioning

confidence: 94%

Synchronization of nonlinear systems with communication delays and intermittent information exchange

2015

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“…Suppose Σ 1 , Σ 2 are finite L 2 -gain stable with gains γ 1 , γ 2 > 0, respectively. If γ 1 · γ 2 < 1, then the interconnection (1), (18) is weakly finite L 2 -gain stable. Now, consider again two subsystems Σ 1 , Σ 2 of the form (14).…”

Section: Presence Of Communication Delaysmentioning

confidence: 98%

“…Lemma 4: Consider an interconnection of the form (1), (18). Suppose Σ 1 , Σ 2 are finite L 2 -gain stable with gains γ 1 , γ 2 > 0, respectively.…”

Section: Presence Of Communication Delaysmentioning

confidence: 99%

Generalized scattering transformation and its applications to stabilization of conic systems

Polushin

2013

52nd IEEE Conference on Decision and Control

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A generalized version of the scattering transformation is proposed which allows for rendering of the input-output characteristics of a nonlinear conic system into an arbitrary prescribed conic sector. The transformation is consequently applied to the problem of stabilization of conic systems interconnections; the stability is achieved by rendering the input-output characteristics of the subsystems into complementary cones such that the graph separation stability condition is satisfied. In the presence of communication delays, the scattering-based technique for stabilization of feedback interconnections is generalized to the case of arbitrary conic subsystems.

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“…Also, Sirouspour 11 has proposed a robust stability analysis and design method for cooperative teleoperation. Polushin et al 12 have proposed a cooperative teleoperation scheme with nonlinear small gain theorem for the stability of the networked system. Katsura and Ohnishi 13 have proposed a multilateral control system, as an extension of the four-channel architecture in bilateral teleoperation, with N master robots/operators to control a single slave robot for the purpose of haptic training.…”

Section: Introductionmentioning

confidence: 99%

Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness

Tümerdem

2017

International Journal of Advanced Robotic Systems

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Multilateral teleoperation is the general name given to haptic teleoperation with multiple robots and operators. It is the generalization of two robot bilateral teleoperation systems to N robots. One of the applications of multilateral teleoperation is haptic training, where multiple operators can move multiple master robots, and in consensus, they can control a single slave robot. This enables the operators to influence each other's motion with their force inputs and a more experienced operator can instruct/train a novice operator for teleoperation. In multilateral systems, existence of multiple robots and multiple communication channels between robots poses difficulties in the analysis of stability and control design. Because of the distributed nature of the problem, and especially in the presence of time delays in the communication links between robots, stability of the networked system becomes harder to guarantee. This article presents a method for checking the L 2 stability of multilateral teleoperation systems with N robots and symmetric or asymmetric time delays between them. Following this, a scalable four-channel-based distributed control law is proposed under the light of the proposed stability criterion which can guarantee delay-independent stability and enable highperformance haptic teleoperation. Furthermore, robust stability of the proposed control architecture is shown using analysis. Finally, theoretical results are validated with experiments that include comparisons of the proposed method with two-channel-based passive and absolutely stable systems.

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A small gain framework for networked cooperative force-reflecting teleoperation

Cited by 70 publications

References 27 publications

Synchronization of nonlinear systems with communication delays and intermittent information exchange

Synchronization of nonlinear systems with communication delays and intermittent information exchange

Generalized scattering transformation and its applications to stabilization of conic systems

Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness

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A small gain framework for networked cooperative force-reflecting teleoperation

Cited by 70 publications

References 27 publications

Synchronization of nonlinear systems with communication delays and intermittent information exchange

Synchronization of nonlinear systems with communication delays and intermittent information exchange

Generalized scattering transformation and its applications to stabilization of conic systems

Multilateral teleoperation under asymmetric time delays: L2 stability and robustness

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Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness