Abstract
In this paper we study linear control of delayed and/or sampled bilateral teleoperation with LTI master and slave devices. A complete parameterization of admittance operators achievable with nominally stabilizing control laws is derived. The potential of this parameterization for controller synthesis is illustrated with a numerical example. In addition, a generic structure of nominally stabilizing controllers is revealed and its properties are discussed. It is shown that delay-independent nominal stabilization in linear networked bilateral teleoperation control does not imply limitations on performance and coupled stability.
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