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Written Communication System Based on Multilateral Teleoperation Using Time-Domain Passivity Control

This paper considers a written communication system based on a multilateral teleoperation by using time-domain passivity control. The main contribution of this paper is to apply the time-domain passivity control to our written communication system. In our written communication system, the stability is guaranteed by using the scattering matrix method. However, when the disturbances exist in the practical multilateral teleoperation, the operation error may be occurred. This paper resolves the disturbance attenuation for the multilateral teleoperation by using the time-domain passivity control. First, the written communication system with the multilateral teleoperation is indicated. Two operators and one teleoperator which are called as the clients and the server, respectively. Next, the time-domain passivity control is applied to the server side. The time-domain passivity control is composed of the passivity observer and passivity controller. In the simulation, while one client provides the force to the pen equipment, the stability and the control performance are verified. The disturbance attenuation is confirmed by using the time-domain passivity control. Therefore, two clients can recognize the character by using the written communication system.