Abstract
Passivity theory is very useful for stability analysis of bilateral teleoperation. Many researchers use passivity-based stabilization method such as scattering theory or wave variables. However, passivity-based stabilization is too conservative to design a high performance teleoperation system. High performance means that human operators can feel high-accuracy reaction force from environments. In this paper, we analyze l2 stability of some bilateral control systems with communication delay using small gain theorem. This theorem is renowned as a stable condition of multi-input multi-output feedback systems. And a novel control architecture which satisfies l <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> stable condition of the theorem is proposed. The proposed control system has four communication channels. The validity of the proposed control system is shown by experimental results.
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