Cooperative control based on Force-Reflection with four-channel teleoperation system

Nam Duc Do, Toru Namerikawa

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

3 Citations (Scopus)

Abstract

This paper focuses on a new Force-Reflection (FR) algorithm based on input-to-state stability (ISS) small gain theorem in cooperative work of Single Master-Multiple Slave (SMMS) teleoperation system with time varying communication delay. In this work, we propose a new position tracking control for object grasping and a new FR algorithm based on a PD control to transfer the positions, velocities and force information between both sides of teleoperation. The goals of these methods are to achieve the secure grasping by multiple slave robots and improve the tracking performance of the cooperation SMMS teleoperation system. To analyze stability of the system, the ISS small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable. Several experimental results show the effectiveness of our proposed method.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages4879-4884
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: 2011 Dec 122011 Dec 15

Other

Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
CountryUnited States
CityOrlando, FL
Period11/12/1211/12/15

Fingerprint

Cooperative Control
Teleoperation
Remote control
Grasping
Small Gain Theorem
Communication Delay
Position Control
Stability Theorem
Tracking Control
Time-varying Delay
Robot
Robots
Communication
Experimental Results

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

Duc Do, N., & Namerikawa, T. (2011). Cooperative control based on Force-Reflection with four-channel teleoperation system. In Proceedings of the IEEE Conference on Decision and Control (pp. 4879-4884). [6160933] https://doi.org/10.1109/CDC.2011.6160933

Cooperative control based on Force-Reflection with four-channel teleoperation system. / Duc Do, Nam; Namerikawa, Toru.

Proceedings of the IEEE Conference on Decision and Control. 2011. p. 4879-4884 6160933.

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

Duc Do, N & Namerikawa, T 2011, Cooperative control based on Force-Reflection with four-channel teleoperation system. in Proceedings of the IEEE Conference on Decision and Control., 6160933, pp. 4879-4884, 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL, United States, 11/12/12. https://doi.org/10.1109/CDC.2011.6160933
Duc Do N, Namerikawa T. Cooperative control based on Force-Reflection with four-channel teleoperation system. In Proceedings of the IEEE Conference on Decision and Control. 2011. p. 4879-4884. 6160933 https://doi.org/10.1109/CDC.2011.6160933
Duc Do, Nam ; Namerikawa, Toru. / Cooperative control based on Force-Reflection with four-channel teleoperation system. Proceedings of the IEEE Conference on Decision and Control. 2011. pp. 4879-4884
@inproceedings{4d1171fa25df4ba09c63c0a11fab5d82,
title = "Cooperative control based on Force-Reflection with four-channel teleoperation system",
abstract = "This paper focuses on a new Force-Reflection (FR) algorithm based on input-to-state stability (ISS) small gain theorem in cooperative work of Single Master-Multiple Slave (SMMS) teleoperation system with time varying communication delay. In this work, we propose a new position tracking control for object grasping and a new FR algorithm based on a PD control to transfer the positions, velocities and force information between both sides of teleoperation. The goals of these methods are to achieve the secure grasping by multiple slave robots and improve the tracking performance of the cooperation SMMS teleoperation system. To analyze stability of the system, the ISS small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable. Several experimental results show the effectiveness of our proposed method.",
author = "{Duc Do}, Nam and Toru Namerikawa",
year = "2011",
doi = "10.1109/CDC.2011.6160933",
language = "English",
isbn = "9781612848006",
pages = "4879--4884",
booktitle = "Proceedings of the IEEE Conference on Decision and Control",

}

TY - GEN

T1 - Cooperative control based on Force-Reflection with four-channel teleoperation system

AU - Duc Do, Nam

AU - Namerikawa, Toru

PY - 2011

Y1 - 2011

N2 - This paper focuses on a new Force-Reflection (FR) algorithm based on input-to-state stability (ISS) small gain theorem in cooperative work of Single Master-Multiple Slave (SMMS) teleoperation system with time varying communication delay. In this work, we propose a new position tracking control for object grasping and a new FR algorithm based on a PD control to transfer the positions, velocities and force information between both sides of teleoperation. The goals of these methods are to achieve the secure grasping by multiple slave robots and improve the tracking performance of the cooperation SMMS teleoperation system. To analyze stability of the system, the ISS small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable. Several experimental results show the effectiveness of our proposed method.

AB - This paper focuses on a new Force-Reflection (FR) algorithm based on input-to-state stability (ISS) small gain theorem in cooperative work of Single Master-Multiple Slave (SMMS) teleoperation system with time varying communication delay. In this work, we propose a new position tracking control for object grasping and a new FR algorithm based on a PD control to transfer the positions, velocities and force information between both sides of teleoperation. The goals of these methods are to achieve the secure grasping by multiple slave robots and improve the tracking performance of the cooperation SMMS teleoperation system. To analyze stability of the system, the ISS small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable. Several experimental results show the effectiveness of our proposed method.

UR - http://www.scopus.com/inward/record.url?scp=84860700033&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84860700033&partnerID=8YFLogxK

U2 - 10.1109/CDC.2011.6160933

DO - 10.1109/CDC.2011.6160933

M3 - Conference contribution

SN - 9781612848006

SP - 4879

EP - 4884

BT - Proceedings of the IEEE Conference on Decision and Control

ER -