Bandwidth Expansion of Bilateral Teleoperation Based on Synergy of Observer Gain and Velocity Feedback Gain

Shuhei Shimmyo, Yuki Saito, Takahiro Nozaki, Kouhei Ohnishi

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

Abstract

Bilateral control is getting much attention as a key technology in teleoperation. A reproducibility is one of the performance indices of bilateral teleoperation, and four-channel acceleration-based bilateral control (4ch ABC) which has a high reproducibility with wide bandwidth enables operators to feel environmental impedance, clearly. Both position control and force control are required for the 4ch ABC, and a PD controller and a P controller are often utilized with a disturbance observer (DOB) and a reaction force observer (RFOB). This paper discusses how operators can feel environmental impedance with wide bandwidth in the 4ch ABC. A damping ratio of a PD controller has been, conventionally, set about 1 by imitating a traditional design principle of servo control. This paper theoretically reveals that a velocity feedback gain of a PD controller affects a bandwidth of reproducibility as a synergy with observer gains of a DOB, and a PD controller using a high velocity feedback gain is introduced. The validity of the theoretical analysis is confirmed by simulations and experimental results.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
Pages3597-3602
Number of pages6
ISBN (Electronic)9781728148786
DOIs
Publication statusPublished - 2019 Oct
Externally publishedYes
Event45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal
Duration: 2019 Oct 142019 Oct 17

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2019-October

Conference

Conference45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019
CountryPortugal
CityLisbon
Period19/10/1419/10/17

Keywords

  • bilateral control
  • damping ratio
  • haptics
  • reproducibility

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Shimmyo, S., Saito, Y., Nozaki, T., & Ohnishi, K. (2019). Bandwidth Expansion of Bilateral Teleoperation Based on Synergy of Observer Gain and Velocity Feedback Gain. In Proceedings: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society (pp. 3597-3602). [8926881] (IECON Proceedings (Industrial Electronics Conference); Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/IECON.2019.8926881