Least conservative robust stability condition for linear bilateral teleoperation control systems

  • Haddadi A
  • Hashtrudi-Zaad K
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Abstract

... dynamics in the reflection coefficient Γe (Γh) plane that result in strictly passive termination ... Environment Stability Circles In this section, the stability of teleoperation system coupled to the ... of an MSN is achieved when the input impedance Zin is passive, ie positive real (for linear ...

Author-supplied keywords

  • Human operator
  • Passivity
  • Robust stability
  • Stability region
  • Teleoperation systems

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Authors

  • Amir Haddadi

  • Keyvan Hashtrudi-Zaad

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