دانلود مقاله ISI انگلیسی شماره 55732
ترجمه فارسی عنوان مقاله

پایداری سیستم اپراتور دوطرفه با اپراتور شدیدا منفعل یا محیط غیرفعال و غیرمنفعل

عنوان انگلیسی
Bilateral teleoperation system stability with non-passive and strictly passive operator or environment ☆
کد مقاله سال انتشار تعداد صفحات مقاله انگلیسی
55732 2015 16 صفحه PDF
منبع

Publisher : Elsevier - Science Direct (الزویر - ساینس دایرکت)

Journal : Control Engineering Practice, Volume 40, July 2015, Pages 45–60

ترجمه کلمات کلیدی
انعکاس نیروی مستقیم؛ خطا و موقعیت - نیروی موقعیت کنترل - خروجی غیر منفعل؛ ورودی های غیرمنفعل - ورودی به شدت منفعل؛
کلمات کلیدی انگلیسی
LTI, linear time-invariant; PEB, position error based; DFR, direct force reflection; DFR(PD), force-position with PD position controller; DFR(P+D), force-position with P+D position controller; RHP, right half plane; LHP, left half plane; ISP, input strictly passive; OSP, output strictly passive; INP, input non-passive; ONP, output non-passive; DNP, disc-like non-passive; EOP, excess of passivity; SOP, shortage of passivity; OER, operator emulating robotTeleoperation systems; Absolute stability; Non-passive termination; Strictly passive termination; Llewelly׳s criterion
پیش نمایش مقاله
پیش نمایش مقاله  پایداری سیستم اپراتور دوطرفه با اپراتور شدیدا منفعل یا محیط غیرفعال و غیرمنفعل

چکیده انگلیسی

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.