A small gain framework for networked cooperative force-reflecting teleoperation

For cooperative force-reflecting teleoperation over networks, conventional passivity-based approaches have limited applicability due to nonpassive slave–slave interactions and irregular communication delays imposed by networks. In this paper, a small gain framework for stability analysis design of cooperative network-based force reflecting teleoperator systems is developed. The framework is based on a version of weak input-to-output practical stability (WIOPS) nonlinear small gain theorem that is applicable to stability analysis of large-scale network-based interconnections. Based on this result, we design a cooperative force-reflecting teleoperator system which is guaranteed to be stable in the presence of multiple network-induced communication constraints by appropriate adjustment of local control gains and/or force-reflection gains. Experimental results are presented that confirm the validity of the proposed approach.