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
AN - SCOPUS:84860700033
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4879
EP - 4884
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -