Asymmetrie multilateral teleoperation through scaled consensus reaching on graphs

Ugur Tumerdem, Tomoyuki Shimono, Kouhei Ohnishi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

Consensus algorithms enable nodes on a Laplacian graph to dynamically reach an agreement-consensus on certain values, such as the average of initial conditions or local inputs. In this paper we propose a different kind of algorithm, the scaled consensus algorithm based on weighted digraphs. This algorithm enables nodes to track different values which are functions of a common consensus value, depending on the weights of the graph. We employ this algorithm for asymmetric multilateral teleoperation, which requires scaled force reflection and position tracking. More specifically; we generalize the four-channel based multilateral teleoperation architecture for various network configurations, taking the scalings into consideration as well. We also show that the algorithm can be applied to micro-macro teleoperation systems.

Original languageEnglish
Pages (from-to)972-980
Number of pages9
JournalIEEJ Transactions on Industry Applications
Volume129
Issue number10
DOIs
Publication statusPublished - 2009

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Keywords

  • Consensus algorithms
  • Multilateral teleoperation
  • Networked control
  • Scaled haptic teleoperation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Asymmetrie multilateral teleoperation through scaled consensus reaching on graphs. / Tumerdem, Ugur; Shimono, Tomoyuki; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 129, No. 10, 2009, p. 972-980.

Research output: Contribution to journalArticle

Tumerdem, Ugur ; Shimono, Tomoyuki ; Ohnishi, Kouhei. / Asymmetrie multilateral teleoperation through scaled consensus reaching on graphs. In: IEEJ Transactions on Industry Applications. 2009 ; Vol. 129, No. 10. pp. 972-980.
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