Stability is a major problem with bilateral teleoperator when there is a transmission time delay. By adding adequate damping gain into position servo, a stable bilateral control can be achieved under the existence of time delay. However, large damping gain is required to stabilize the system and the performance is degraded. In this paper, the performance improvement by introducing a high-pass filter into a proportional derivative-based teleoperator with time delay has been studied. We proposed new control law and derived the stability condition. We demonstrated the performance improvement using a hybrid matrix, 1-degree of freedom (DOF), 2-DOF simulations, and 2-DOF peg-in-hole experiments.

This paper presents a novel ultra-low-loss high-pass filter with 3 dB cutoff frequency of 890 MHz for astronomical receiver radio frequency interference mitigation application. The filter consists of three series capacitors, four shunt inductors, and microstrip circuit board. Specially, 4 shunt inductors are actualized by fabricating air-core short-circuit coaxial cable inductors in the filter box body, and the quality factor of these cable inductors is up to 762.2 and 1046, respectively, at 1.4 GHz. In the expected passband of 1.1–1.9 GHz, S parameters measurement show that insertion loss is lower than 0.16 dB and two-port return loss is larger than 20 dB; noise measurement show that filter noise temperature is lower than 8 at 300 K ambient temperature. Noise sources of this filter are analyzed by simulation and measurement.