A decoupling controller design and analysis of multilateral control using disturbance observer in modal space

This paper proposes decoupling controller design and analysis of multilateral control using disturbance observer (DOB) in modal space. For transmitting haptic information, the bilateral control has been studied widely. As next step in haptic communication, the multilateral control was proposed. The multilateral control realizes the transmission of haptic information among some master-slave systems. In conventional method, however, it is assumed that the masses of the master-slave systems are the same. When the masses of the master-slave systems are different, interfered terms in the transformed coordinate are appeared. On the other hand, the proposed method can suppress this interfered terms because this terms are eliminated by the DOB in the modal space. Furthermore, this paper analyzes the force and position controllers in the modal space briefly. Finally, the performance of the proposed method is compared with the conventional method by simulations, and the validity is confirmed.