Stability Problem of Wave Variable Based Bilateral Control: Influence of the Force Source Design
Joint Authors
Tian, Dapeng
Zhang, Bao
Shen, Honghai
Li, Jiaquan
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-28
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
The wave variable has been proposed to achieve robust stability against the time delay in bilateral control system.
However, the influence of the force source on the overall system is still not clear.
This paper analyzes this problem and proposes a supplement to the stability analysis for wave variable based bilateral control.
Based on the scattering theory, it is pointed out that the design of force source decides the passivity of the two-port network of slave robot.
This passivity influences the stability of overall system.
Based on the characteristic equation and small gain theorem, it is clear that inappropriate designed force source in encoding the wave variable destroys the stability in the presence of time delay.
A wave domain filter makes up for the broken stability.
The principle of this reparation is explained in this paper.
A reference is also provided by the analysis to design the parameter of the wave domain filter.
Experiments prove the correctness and validity.
American Psychological Association (APA)
Tian, Dapeng& Zhang, Bao& Shen, Honghai& Li, Jiaquan. 2013. Stability Problem of Wave Variable Based Bilateral Control: Influence of the Force Source Design. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-1008463
Modern Language Association (MLA)
Tian, Dapeng…[et al.]. Stability Problem of Wave Variable Based Bilateral Control: Influence of the Force Source Design. Mathematical Problems in Engineering No. 2013 (2013), pp.1-11.
https://search.emarefa.net/detail/BIM-1008463
American Medical Association (AMA)
Tian, Dapeng& Zhang, Bao& Shen, Honghai& Li, Jiaquan. Stability Problem of Wave Variable Based Bilateral Control: Influence of the Force Source Design. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-1008463
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1008463