A structure of bilateral control system with time delay considering improvement of stability

Shoyo Hyodo, Kouhei Ohnishi

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

4 Citations (Scopus)

Abstract

Time delay in bilateral control system seriously deteriorates stability. Conventional acceleration based bilateral control method has stabilized position control. But, force control is not stabilized. This paper proposed a stability improved structure for bilateral control system. Position control and force control of proposed bilateral control system are stabilized. The validity of the proposed method is shown by numerical and experimental results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages284-289
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Fingerprint

Time Delay
Time delay
Position Control
Force Control
Control System
Force control
Position control
Control systems
Stabilized Methods
Numerical Results
Experimental Results

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Hyodo, S., & Ohnishi, K. (2014). A structure of bilateral control system with time delay considering improvement of stability. In International Workshop on Advanced Motion Control, AMC (pp. 284-289). [6823296] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823296

A structure of bilateral control system with time delay considering improvement of stability. / Hyodo, Shoyo; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 284-289 6823296.

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

Hyodo, S & Ohnishi, K 2014, A structure of bilateral control system with time delay considering improvement of stability. in International Workshop on Advanced Motion Control, AMC., 6823296, Institute of Electrical and Electronics Engineers Inc., pp. 284-289, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823296
Hyodo S, Ohnishi K. A structure of bilateral control system with time delay considering improvement of stability. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 284-289. 6823296 https://doi.org/10.1109/AMC.2014.6823296
Hyodo, Shoyo ; Ohnishi, Kouhei. / A structure of bilateral control system with time delay considering improvement of stability. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 284-289
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