پایداری سیستم اپراتور دوطرفه با اپراتور شدیدا منفعل یا محیط غیرفعال و غیرمنفعل
|کد مقاله||سال انتشار||مقاله انگلیسی||ترجمه فارسی||تعداد کلمات|
|55732||2015||16 صفحه PDF||سفارش دهید||13712 کلمه|
Publisher : Elsevier - Science Direct (الزویر - ساینس دایرکت)
Journal : Control Engineering Practice, Volume 40, July 2015, Pages 45–60
A bilateral teleoperation system comprises a human operator, a teleoperator, and an environment. Without exact models for the teleoperator׳s terminations (i.e., human operator and the environment), it is typically assumed that they are passive but otherwise arbitrary. Based on this assumption, the stability of the teleoperation system is investigated through Llewellyn׳s absolute stability criterion for the teleoperator. However, the assumption of passivity of the terminations is less than accurate and may be violated in practice. Using Mobius transformations, this paper develops a new powerful stability analysis tool for a two-port network coupled to a passive termination and another termination that is (a) input strictly passive (ISP), (b) output strictly passive (OSP), (c) input non-passive (INP), or (b) disc-like non-passive (DNP). While this new stability criterion is applicable to any two-port network, we apply it to bilateral teleoperation systems with position-error-based (PEB) and direct-force-reflection (DFR) controllers. Simulations and experiments are reported for a pair of Phantom haptic robots.