Stability analysis and robust control for fixed-scale teleoperation

In this article we present a new theorem that reduces the stability problem of teleoperators from a structured singular value problem to a maximum singular value problem. A control scheme realizing an ideal response for fixed scaled teleoperation is proposed and its stability is proven analytically. Next, the ideal control scheme is extended to control schemes with a higher stability robustness. Also for these more complicated schemes stability analyses are performed making use of the newly developped theorem and stability conditions are derived. Experiments on a one degree of freedom setup are conducted to confirm the validity of the proposed control schemes. keywords: teleoperation, stability analysis, structured singular value, robust control, fixed scale