An IQC formulation of stability analysis for bilateral teleoperation systems with time delays

Authors: Ilhan Polat - 2011 IEEE World Haptics Conference 2011 cited by 3

Many teleoperation applications exhibit significant communication delays between operator commands and the resulting actions at the remote site. In this paper we present the stability analysis of bilateral teleoperation systems in the face of passive human/environment operators and communication time delays via the so-called Integral Quadratic Constraints (IQCs) framework.