Centralized controller based multilateral control with communication delay

Daisuke Yashiro, Dapeng Tian, Kouhei Ohnishi

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

4 Citations (Scopus)

Abstract

This paper proposes a centralized controller based multilateral control system considering communication delay. The multilateral control system is a kind of position/force hybrid control systems using more than two robots. Conventional distributed controller based multilateral controller does not achieve high control performance due to communication delay between each robots. Therefore, this paper utilizes a centralized controller and an delay-model-free predictor to improve control performance. The validity is confirmed by some analyses and experiments.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
Pages991-996
Number of pages6
DOIs
Publication statusPublished - 2011 Sep 2
Event2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey
Duration: 2011 Apr 132011 Apr 15

Publication series

Name2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

Other

Other2011 IEEE International Conference on Mechatronics, ICM 2011
CountryTurkey
CityIstanbul
Period11/4/1311/4/15

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Keywords

  • Multilateral control
  • centralized controller
  • delay
  • delay-model-free predictor
  • hybrid control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Yashiro, D., Tian, D., & Ohnishi, K. (2011). Centralized controller based multilateral control with communication delay. In 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings (pp. 991-996). [5971260] (2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings). https://doi.org/10.1109/ICMECH.2011.5971260