Frequency-domain mapping approach of stability bounds for loop shaping of bilateral controllers

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Bilateral control architectures include multiple control elements. In general, the relation between a single control element and the stability of the entire system is non-linear. Therefore, stability is standard evaluated a posteriori, rendering the control design process to be complex and highly iterative. A priori understanding of stability constraints would simplify the design of control elements and, as performance is fundamentally limited by stability, could provide specific guidelines whether and how performance of the bilateral teleoperation system can be optimized. This paper presents a numerical visualization method that enables stability-based control design using classical loopshaping techniques: Frequency-domain Mapping of Bilateral Stability (FMBS). Unlike current stability-based control design approaches, the FMBS method i) is not limited to a fixed control element, a fixed control architecture or system dynamics and ii) enables the implementation of all often used stability criteria. The advantages of the FMBS method are theoretically validated through the use of two test cases, extracted from literature. Using the FMBS method, it is shown that control elements can be redesigned to achieve superior performance.

Original languageEnglish
Title of host publication2013 World Haptics Conference, WHC 2013
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Number of pages6
ISBN (Print)9781479900886
Publication statusPublished - 19 Aug 2013
Event2013 IEEE World Haptics Conference (WHC2013) - Daejeon, Korea, Republic of
Duration: 14 Apr 201317 Apr 2013


Conference2013 IEEE World Haptics Conference (WHC2013)
Abbreviated titleWHC 2013
Country/TerritoryKorea, Republic of
Other5th Joint Eurohaptics Conference and the IEEE Haptics Symposium (IEEE WHC 2013


  • Bilateral control
  • Bode diagram
  • Haptics
  • Loop Shaping
  • Passivity
  • Stability


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