Stability and Transparency Analysis of a Bilateral Teleoperation in Presence of Data Loss
This work addresses stability and transparency issues in teleoperation systems for applications like remote surgery or hazardous environment handling, but it appears incremental as it builds on existing wave variable methods with a new data loss model.
The paper tackled the problem of ensuring stability and transparency in bilateral teleoperation systems when data loss occurs, by proposing a new model for data loss based on periodic continuous pulses and demonstrating system passivity using a wave variable approach, with simulation results showing effectiveness.
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.