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 publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages4879-4884
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
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

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

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

ASJC Scopus subject areas

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

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