A Small Gain Framework for Networked Cooperative Teleoperation *

A small gain approach for stability analysis of cooperative network-based force reflecting teleoperator systems is presented. The approach is based on a new version of input-to-output stability (IOS) nonlinear small gain theorem that is applicable to stability analysis of large-scale network-based interconnections. Using the small-gain theorem presented, we show that stability of the cooperative teleoperator system can always be achieved by choosing some of the system’ gains appropriately.