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Published in:
2015 | OriginalPaper | Chapter
4. Synchronization of Bilateral Teleoperators
Authors : Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Published in: Passivity-Based Control and Estimation in Networked Robotics
Publisher: Springer International Publishing
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Abstract
This chapter first studies passivity of a feedback interconnection of two passive systems under input-output time delays. It is then demonstrated that, the feedback interconnection in the presence of delays is passive under appropriate passivity conditions on the individual systems. This result is then adapted to output synchronization of two passive systems. Subsequently, the result is utilized for synchronization problems for master-slave robots.