A novel viewpoint in bilateral control system with time delay aiming for clear control goals

Hayata Sakai, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes a novel viewpoint of the bilateral control with time delay in terms of modal space and the control method to track position and return force information from the slave to the master well. The bilateral control is characterized by a remote control, which return force information to the local site. Time delay is one of the problems of the bilateral control system, because it degrades the performance and stability of the control system. Various methods for the problems about time delay have been proposed. However, in these methods, the control goals in bilateral control in the presence of time delay have been not taken into account clearly or been not set properly. Therefore, this paper sets novel control goals of bilateral control with time delay in terms of modal space and the control method in which the slave position tracks the master position and the slave's force return to the master well. The validity of the proposed method is demonstrated experimentally.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2130-2135
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

Fingerprint

Time delay
Control systems
Remote control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Sakai, H., & Ohnishi, K. (2016). A novel viewpoint in bilateral control system with time delay aiming for clear control goals. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 2130-2135). [7392416] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392416

A novel viewpoint in bilateral control system with time delay aiming for clear control goals. / Sakai, Hayata; Ohnishi, Kouhei.

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 2130-2135 7392416.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sakai, H & Ohnishi, K 2016, A novel viewpoint in bilateral control system with time delay aiming for clear control goals. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392416, Institute of Electrical and Electronics Engineers Inc., pp. 2130-2135, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 15/11/9. https://doi.org/10.1109/IECON.2015.7392416
Sakai H, Ohnishi K. A novel viewpoint in bilateral control system with time delay aiming for clear control goals. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2016. p. 2130-2135. 7392416 https://doi.org/10.1109/IECON.2015.7392416
Sakai, Hayata ; Ohnishi, Kouhei. / A novel viewpoint in bilateral control system with time delay aiming for clear control goals. IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 2130-2135
@inproceedings{a4cf3c38e2ab4f0792805d017813fa0e,
title = "A novel viewpoint in bilateral control system with time delay aiming for clear control goals",
abstract = "This paper proposes a novel viewpoint of the bilateral control with time delay in terms of modal space and the control method to track position and return force information from the slave to the master well. The bilateral control is characterized by a remote control, which return force information to the local site. Time delay is one of the problems of the bilateral control system, because it degrades the performance and stability of the control system. Various methods for the problems about time delay have been proposed. However, in these methods, the control goals in bilateral control in the presence of time delay have been not taken into account clearly or been not set properly. Therefore, this paper sets novel control goals of bilateral control with time delay in terms of modal space and the control method in which the slave position tracks the master position and the slave's force return to the master well. The validity of the proposed method is demonstrated experimentally.",
author = "Hayata Sakai and Kouhei Ohnishi",
year = "2016",
month = "1",
day = "25",
doi = "10.1109/IECON.2015.7392416",
language = "English",
pages = "2130--2135",
booktitle = "IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - A novel viewpoint in bilateral control system with time delay aiming for clear control goals

AU - Sakai, Hayata

AU - Ohnishi, Kouhei

PY - 2016/1/25

Y1 - 2016/1/25

N2 - This paper proposes a novel viewpoint of the bilateral control with time delay in terms of modal space and the control method to track position and return force information from the slave to the master well. The bilateral control is characterized by a remote control, which return force information to the local site. Time delay is one of the problems of the bilateral control system, because it degrades the performance and stability of the control system. Various methods for the problems about time delay have been proposed. However, in these methods, the control goals in bilateral control in the presence of time delay have been not taken into account clearly or been not set properly. Therefore, this paper sets novel control goals of bilateral control with time delay in terms of modal space and the control method in which the slave position tracks the master position and the slave's force return to the master well. The validity of the proposed method is demonstrated experimentally.

AB - This paper proposes a novel viewpoint of the bilateral control with time delay in terms of modal space and the control method to track position and return force information from the slave to the master well. The bilateral control is characterized by a remote control, which return force information to the local site. Time delay is one of the problems of the bilateral control system, because it degrades the performance and stability of the control system. Various methods for the problems about time delay have been proposed. However, in these methods, the control goals in bilateral control in the presence of time delay have been not taken into account clearly or been not set properly. Therefore, this paper sets novel control goals of bilateral control with time delay in terms of modal space and the control method in which the slave position tracks the master position and the slave's force return to the master well. The validity of the proposed method is demonstrated experimentally.

UR - http://www.scopus.com/inward/record.url?scp=84973110492&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84973110492&partnerID=8YFLogxK

U2 - 10.1109/IECON.2015.7392416

DO - 10.1109/IECON.2015.7392416

M3 - Conference contribution

AN - SCOPUS:84973110492

SP - 2130

EP - 2135

BT - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

PB - Institute of Electrical and Electronics Engineers Inc.

ER -