A stabilization control of bilateral system with time delay by vibration index - Application to inverted pendulum control

Tomoaki Ohta, Toshiyuki Murakami

Research output: Contribution to journalArticle

22 Citations (Scopus)


In a master-slave system, improving the positioning performance and the stability is needed in the case of remote control. However, if there exists time delay, the system destabilizes the performance. Furthermore, it is important to maintain the stability of not only the system but also the controlled object. This paper describes a strategy to improve these problems. This strategy enables operators to get a degree of time delay and instability by keeping the motion performance and the stability. The unstable response with a time delay is restrained by adjusting PD controller gains based on the velocity error of master-slave. Furthermore, switching bilateral control and autonomous control of slave without falling into unstable state is constructed when that cannot be restrained because of long time delay or unexpected disturbances of slave motion. The validity of the proposed strategy is confirmed by experiments stabilizing an unstable component, i.e., an inverted pendulum of slave system.

Original languageEnglish
Pages (from-to)1595-1603
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Issue number5
Publication statusPublished - 2009 Jun 3



  • Bilateral Control
  • Inverted Pendulum
  • Manipulator
  • Stabilizing Control
  • Time delay
  • Timedelay

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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