An analysis on bilateral control system with quantization by multi-level delta-sigma modulation

Yusuke Kawamura, Seiichiro Katsura

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

4 Citations (Scopus)

Abstract

In this paper, we treat bilateral control system with quantization. Quantization can compress the amount of information, used for communication between master and slave systems.. However in many cases, the performance of the system is deteriorated by quantization error. Therefore, this paper proposes the utilization of multi-level delta-sigma modulator for control system. Multi-level delta-sigma modulator contains fedback structure. The previous step quantization error is fedback and it is summed to quantized value. By the operation of the quantization, low-frequency quantization error is noise-shaped to the high frequency band. Hence, quantization error in low-frequency is suppressed by multi-level delta-sigma modulator. In order to confirm the effectiveness of proposed method, this paper employs hybrid parameters. By performing analysis on the hybrid parameter, we can confirm that adverse effect of quantization error on reproducibility and operationality can be suppressed by using delta-sigma modulator. In addition, the amount of information of quantized value by the delta-sigma modulator is identical to general quantizer.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages73-78
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

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ASJC Scopus subject areas

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

Cite this

Kawamura, Y., & Katsura, S. (2014). An analysis on bilateral control system with quantization by multi-level delta-sigma modulation. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 73-78). [6823260] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823260