Unconditional stability analysis of dual-user teleoperation systems

A novel method is presented for unconditional stability analysis of dual-user teleoperation systems. The method is based on the application of Llewellyn's criterion to an equivalent two-port network of the system. Unlike unconditional stability of single-user systems which depends on the multi-port network parameters, the unconditional stability of dual-user systems also depends on the network port termination, in this case the environment impedance. The proposed robust stability analysis method is examined on two multilateral shared control architectures previously developed in [11, 12].

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