A two flow expression method of four-channel bilateral control system with time delay and validation of model-free time delay compensator

Shoyo Hyodo, Kouhei Ohnishi

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

Bilateral control is one of the control methods for teleoperation system. The presence of network delays between a master robot and a slave robot makes the design of bilateral control system challengeable. It seriously deteriorates the performance and possibly makes the system unstable. In this paper, to overcome the destabilization from network delay, the model-free time delay compensator is proposed. The proposed compensator does not utilize time delay model and plant model, but the bilateral control system is stabilized. The stability of the proposed control system is shown by using two flow expression method. Two flow expression method models the master system and the slave system of four-channel bilateral control system as single input and single output system. This method makes the analysis for the stability and the performance of the four-channel bilateral control system simple. The validity of the proposed model-free time delay compensator is confirmed by numerical and experimental results.

Original languageEnglish
Pages (from-to)574-581
Number of pages8
JournalIEEJ Journal of Industry Applications
Volume4
Issue number5
DOIs
Publication statusPublished - 2015

Fingerprint

Time delay
Control systems
Robots
Remote control

Keywords

  • Bilateral control
  • Haptics
  • Network delay
  • Stability

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

A two flow expression method of four-channel bilateral control system with time delay and validation of model-free time delay compensator. / Hyodo, Shoyo; Ohnishi, Kouhei.

In: IEEJ Journal of Industry Applications, Vol. 4, No. 5, 2015, p. 574-581.

Research output: Contribution to journalArticle

@article{fa31dfe322b84719906804b98c4fb2ff,
title = "A two flow expression method of four-channel bilateral control system with time delay and validation of model-free time delay compensator",
abstract = "Bilateral control is one of the control methods for teleoperation system. The presence of network delays between a master robot and a slave robot makes the design of bilateral control system challengeable. It seriously deteriorates the performance and possibly makes the system unstable. In this paper, to overcome the destabilization from network delay, the model-free time delay compensator is proposed. The proposed compensator does not utilize time delay model and plant model, but the bilateral control system is stabilized. The stability of the proposed control system is shown by using two flow expression method. Two flow expression method models the master system and the slave system of four-channel bilateral control system as single input and single output system. This method makes the analysis for the stability and the performance of the four-channel bilateral control system simple. The validity of the proposed model-free time delay compensator is confirmed by numerical and experimental results.",
keywords = "Bilateral control, Haptics, Network delay, Stability",
author = "Shoyo Hyodo and Kouhei Ohnishi",
year = "2015",
doi = "10.1541/ieejjia.4.574",
language = "English",
volume = "4",
pages = "574--581",
journal = "IEEJ Journal of Industry Applications",
issn = "2187-1094",
publisher = "The Institute of Electrical Engineers of Japan",
number = "5",

}

TY - JOUR

T1 - A two flow expression method of four-channel bilateral control system with time delay and validation of model-free time delay compensator

AU - Hyodo, Shoyo

AU - Ohnishi, Kouhei

PY - 2015

Y1 - 2015

N2 - Bilateral control is one of the control methods for teleoperation system. The presence of network delays between a master robot and a slave robot makes the design of bilateral control system challengeable. It seriously deteriorates the performance and possibly makes the system unstable. In this paper, to overcome the destabilization from network delay, the model-free time delay compensator is proposed. The proposed compensator does not utilize time delay model and plant model, but the bilateral control system is stabilized. The stability of the proposed control system is shown by using two flow expression method. Two flow expression method models the master system and the slave system of four-channel bilateral control system as single input and single output system. This method makes the analysis for the stability and the performance of the four-channel bilateral control system simple. The validity of the proposed model-free time delay compensator is confirmed by numerical and experimental results.

AB - Bilateral control is one of the control methods for teleoperation system. The presence of network delays between a master robot and a slave robot makes the design of bilateral control system challengeable. It seriously deteriorates the performance and possibly makes the system unstable. In this paper, to overcome the destabilization from network delay, the model-free time delay compensator is proposed. The proposed compensator does not utilize time delay model and plant model, but the bilateral control system is stabilized. The stability of the proposed control system is shown by using two flow expression method. Two flow expression method models the master system and the slave system of four-channel bilateral control system as single input and single output system. This method makes the analysis for the stability and the performance of the four-channel bilateral control system simple. The validity of the proposed model-free time delay compensator is confirmed by numerical and experimental results.

KW - Bilateral control

KW - Haptics

KW - Network delay

KW - Stability

UR - http://www.scopus.com/inward/record.url?scp=85004050305&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85004050305&partnerID=8YFLogxK

U2 - 10.1541/ieejjia.4.574

DO - 10.1541/ieejjia.4.574

M3 - Article

AN - SCOPUS:85004050305

VL - 4

SP - 574

EP - 581

JO - IEEJ Journal of Industry Applications

JF - IEEJ Journal of Industry Applications

SN - 2187-1094

IS - 5

ER -