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Generically Dependent Continuant
RDF description of Some remarks on the fragility of transparency and stability in general 4-channel architecture for bilateral teleoperation with delay - http://orbis.uaslp.mx/vivo/individual/scopus8074
ICCAS 2010 - International Conference on Control, Automation and Systems
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Delay; Stability; Teleoperation; Transparency Bilateral teleoperation; Channel architecture; Closed loop stability; Communication time; Delay; Geometric approaches; Illustrative examples; SIMPLE method; Tele-operations; Stability; Time delay; Transparency; Remote control
Some remarks on the fragility of transparency and stability in general 4-channel architecture for bilateral teleoperation with delay
This paper addresses the trade-off between transparency and stability of some specific bilateral teleoperation systems including communication time-delays. Using a geometric approach, we derive a simple method to study the fragility of the proposed controller for a general 4-channel architecture for bilateral teleoperation with time-delays such that the closed-loop stability as well as the transparency are guaranteed for the overall scheme. Illustrative examples complete the presentation. ©ICROS.
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