Absolute stability of a class of trilateral haptic systems.
Identifieur interne : 000546 ( PubMed/Corpus ); précédent : 000545; suivant : 000547Absolute stability of a class of trilateral haptic systems.
Auteurs : Jian Li ; Mahdi Tavakoli ; Qi HuangSource :
- IEEE transactions on haptics [ 2329-4051 ]
English descriptors
- KwdEn :
- MESH :
- methods : Robotics.
- Algorithms, Computer Simulation, Neural Networks (Computer).
Abstract
Trilateral haptic systems can be modeled as three-port networks. We present a criterion for absolute stability of a general class of three-port networks. Traditionally, existing (i.e., Llewellyn's) criteria have facilitated the stability analysis of bilateral haptic systems modeled as two-port networks. If the same criteria were to be used for stability analysis of a three-port network, its third port termination would need to be assumed known for it to reduce to a two-port network. This is restrictive because, for absolute stability, all three terminations of the three-port network must be allowed to be arbitrary (while passive). Extending Llewellyn's criterion, we present closed-form necessary and sufficient conditions for absolute stability of a general class of three-port networks. We first find a symmetrization condition under which a general asymmetric impedance (or admittance) matrix Z3 × 3 has a symmetric equivalent Zeq from a network stability perspective. Then, via the equivalence of passivity and absolute stability for reciprocal networks, an absolute stability condition for the original nonreciprocal network is derived. To demonstrate the convenience and utility of using this criterion for both analysis and design, it is applied to the problem of designing stabilizing controllers for dual-user haptic teleoperation systems, with simulations and experiments validating the criterion.
DOI: 10.1109/TOH.2014.2321616
PubMed: 25248167
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pubmed:25248167Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Absolute stability of a class of trilateral haptic systems.</title><author><name sortKey="Li, Jian" sort="Li, Jian" uniqKey="Li J" first="Jian" last="Li">Jian Li</name></author><author><name sortKey="Tavakoli, Mahdi" sort="Tavakoli, Mahdi" uniqKey="Tavakoli M" first="Mahdi" last="Tavakoli">Mahdi Tavakoli</name></author><author><name sortKey="Huang, Qi" sort="Huang, Qi" uniqKey="Huang Q" first="Qi" last="Huang">Qi Huang</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="????"><PubDate><MedlineDate>2014 Jul-Sep</MedlineDate></PubDate></date><idno type="doi">10.1109/TOH.2014.2321616</idno><idno type="RBID">pubmed:25248167</idno><idno type="pmid">25248167</idno><idno type="wicri:Area/PubMed/Corpus">000546</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Absolute stability of a class of trilateral haptic systems.</title><author><name sortKey="Li, Jian" sort="Li, Jian" uniqKey="Li J" first="Jian" last="Li">Jian Li</name></author><author><name sortKey="Tavakoli, Mahdi" sort="Tavakoli, Mahdi" uniqKey="Tavakoli M" first="Mahdi" last="Tavakoli">Mahdi Tavakoli</name></author><author><name sortKey="Huang, Qi" sort="Huang, Qi" uniqKey="Huang Q" first="Qi" last="Huang">Qi Huang</name></author></analytic><series><title level="j">IEEE transactions on haptics</title><idno type="eISSN">2329-4051</idno></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term><term>Computer Simulation</term><term>Neural Networks (Computer)</term><term>Robotics (methods)</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Robotics</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Algorithms</term><term>Computer Simulation</term><term>Neural Networks (Computer)</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Trilateral haptic systems can be modeled as three-port networks. We present a criterion for absolute stability of a general class of three-port networks. Traditionally, existing (i.e., Llewellyn's) criteria have facilitated the stability analysis of bilateral haptic systems modeled as two-port networks. If the same criteria were to be used for stability analysis of a three-port network, its third port termination would need to be assumed known for it to reduce to a two-port network. This is restrictive because, for absolute stability, all three terminations of the three-port network must be allowed to be arbitrary (while passive). Extending Llewellyn's criterion, we present closed-form necessary and sufficient conditions for absolute stability of a general class of three-port networks. We first find a symmetrization condition under which a general asymmetric impedance (or admittance) matrix Z3 × 3 has a symmetric equivalent Zeq from a network stability perspective. Then, via the equivalence of passivity and absolute stability for reciprocal networks, an absolute stability condition for the original nonreciprocal network is derived. To demonstrate the convenience and utility of using this criterion for both analysis and design, it is applied to the problem of designing stabilizing controllers for dual-user haptic teleoperation systems, with simulations and experiments validating the criterion.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">25248167</PMID><DateCreated><Year>2014</Year><Month>09</Month><Day>24</Day></DateCreated><DateCompleted><Year>2015</Year><Month>11</Month><Day>10</Day></DateCompleted><Article PubModel="Print"><Journal><ISSN IssnType="Electronic">2329-4051</ISSN><JournalIssue CitedMedium="Internet"><Volume>7</Volume><Issue>3</Issue><PubDate><MedlineDate>2014 Jul-Sep</MedlineDate></PubDate></JournalIssue><Title>IEEE transactions on haptics</Title><ISOAbbreviation>IEEE Trans Haptics</ISOAbbreviation></Journal><ArticleTitle>Absolute stability of a class of trilateral haptic systems.</ArticleTitle><Pagination><MedlinePgn>301-10</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1109/TOH.2014.2321616</ELocationID><Abstract><AbstractText>Trilateral haptic systems can be modeled as three-port networks. We present a criterion for absolute stability of a general class of three-port networks. Traditionally, existing (i.e., Llewellyn's) criteria have facilitated the stability analysis of bilateral haptic systems modeled as two-port networks. If the same criteria were to be used for stability analysis of a three-port network, its third port termination would need to be assumed known for it to reduce to a two-port network. This is restrictive because, for absolute stability, all three terminations of the three-port network must be allowed to be arbitrary (while passive). Extending Llewellyn's criterion, we present closed-form necessary and sufficient conditions for absolute stability of a general class of three-port networks. We first find a symmetrization condition under which a general asymmetric impedance (or admittance) matrix Z3 × 3 has a symmetric equivalent Zeq from a network stability perspective. Then, via the equivalence of passivity and absolute stability for reciprocal networks, an absolute stability condition for the original nonreciprocal network is derived. To demonstrate the convenience and utility of using this criterion for both analysis and design, it is applied to the problem of designing stabilizing controllers for dual-user haptic teleoperation systems, with simulations and experiments validating the criterion.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Li</LastName><ForeName>Jian</ForeName><Initials>J</Initials></Author><Author ValidYN="Y"><LastName>Tavakoli</LastName><ForeName>Mahdi</ForeName><Initials>M</Initials></Author><Author ValidYN="Y"><LastName>Huang</LastName><ForeName>Qi</ForeName><Initials>Q</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>United States</Country><MedlineTA>IEEE Trans Haptics</MedlineTA><NlmUniqueID>101491191</NlmUniqueID><ISSNLinking>1939-1412</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D000465">Algorithms</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D003198">Computer Simulation</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D016571">Neural Networks (Computer)</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2014</Year><Month>9</Month><Day>24</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2014</Year><Month>9</Month><Day>24</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2015</Year><Month>11</Month><Day>11</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1109/TOH.2014.2321616</ArticleId><ArticleId IdType="pubmed">25248167</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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