L2-stable bilateral control system with time-varying communication delay

Daisuke Yashiro, Kenji Natori, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


Passivity theory is a very useful tool for the stability analysis of bilateral teleoperation with communication delay. Many researchers use passivity-based stabilization method such as those based on scattering theory or wave variables. However, passivity-based stabilization is too conservative for the design of a high-performance teleoperation system. The term "high-performance" implies that people who operate this system can experience a highly accurate reaction force from environments. In this study, we analyze the L2-stability of some bilateral control systems with time-varying communication delay by using the small-gain theorem. The small-gain theorem is known to be a stability condition for multi-input multi-output feedback systems. Additionally a novel ontrol structure for the bilateral control system with communication delay is proposed. The bilateral control system with the proposed structure satisfies the L2-stability condition of the small-gain theorem. The experimental results show the utility of the proposed control structure.

Original languageEnglish
Pages (from-to)674-681+2
Journalieej transactions on industry applications
Issue number7
Publication statusPublished - 2009
Externally publishedYes


  • Bilateral control
  • Haptics
  • Lstability
  • Passivity
  • Small-gain theorem
  • Time-varying communication delay

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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