Stability and Transparency Analysis of a Bilateral Teleoperation in Presence of Data Loss

TL;DR

This paper introduces a new model for data loss in bilateral teleoperation systems, analyzing stability and transparency using wave variables, and validates the approach through simulations.

Contribution

It proposes a novel data loss model and demonstrates stability and transparency analysis for teleoperation systems under data loss conditions.

Findings

The new data loss model effectively captures communication disruptions.

Passivity of the system is maintained despite data loss.

Simulation results confirm the approach's effectiveness.

Abstract

This paper presents a novel approach for stability and transparency analysis for bilateral teleoperation in the presence of data loss in communication media. A new model for data loss is proposed based on a set of periodic continuous pulses and its finite series representation. The passivity of the overall system is shown using wave variable approach including the newly defined model for data loss. Simulation results are presented to show the effectiveness of the proposed approach.