Effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer

Kenji Natori, Ryogo Kubo, Kouhei Ohnishi

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

10 Citations (Scopus)

Abstract

This paper discusses the effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer (CDOB). A time delay compensation method based on the concept of network disturbance (ND) and CDOB is a novel and efficient for time delay compensation of time delayed bilateral teleoperation systems. Besides, transparency is one of useful performance evaluation indices of bilateral systems. In this paper, the effects of controller parameters on a specific definition of transparency for time delayed cases are discussed. At first, the effects of controller parameters on the transparency are analyzed. Then the validity of the analytical results is verified by simulation results.

Original languageEnglish
Title of host publicationIEEE International Symposium on Industrial Electronics
Pages1287-1292
Number of pages6
DOIs
Publication statusPublished - 2008
Event2008 IEEE International Symposium on Industrial Electronics, ISIE 2008 - Cambridge, United Kingdom
Duration: 2008 Jun 302008 Jul 2

Other

Other2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
CountryUnited Kingdom
CityCambridge
Period08/6/3008/7/2

Fingerprint

Remote control
Transparency
Controllers
Communication
Time delay
Compensation and Redress

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer. / Natori, Kenji; Kubo, Ryogo; Ohnishi, Kouhei.

IEEE International Symposium on Industrial Electronics. 2008. p. 1287-1292 4677232.

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

Natori, K, Kubo, R & Ohnishi, K 2008, Effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer. in IEEE International Symposium on Industrial Electronics., 4677232, pp. 1287-1292, 2008 IEEE International Symposium on Industrial Electronics, ISIE 2008, Cambridge, United Kingdom, 08/6/30. https://doi.org/10.1109/ISIE.2008.4677232
Natori, Kenji ; Kubo, Ryogo ; Ohnishi, Kouhei. / Effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer. IEEE International Symposium on Industrial Electronics. 2008. pp. 1287-1292
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