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 publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages284-289
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

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

ASJC Scopus subject areas

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

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  • Cite this

    Hyodo, S., & Ohnishi, K. (2014). A structure of bilateral control system with time delay considering improvement of stability. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 284-289). [6823296] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823296