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Bilateral teleoperation with communication delays. (English) Zbl 1023.93044
Loosely speaking, the basic teleoperation system is a slave device tracking a master device, which is directly manipulated by a human operator who manages a task by using a master manipulator. Here one assumes that the information transmission between masters and slaves involves some delays, and the aim of the paper is to examine how these time lags can affect the asymptotic stability of the corresponding overall schemes. The system is driven by a set of linear differential equations with time lag, and by using the Laplace transform, one can perform the frequency analysis of the system. The main feature of the result is that the stability regions are so very simply characterized.

MSC:
93C95 Application models in control theory
93C23 Control/observation systems governed by functional-differential equations
90B18 Communication networks in operations research
93A13 Hierarchical systems
93D20 Asymptotic stability in control theory
93C80 Frequency-response methods in control theory
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