Frequency-domain damping design for time-delayed bilateral teleoperation system based on modal space analysis

Atsushi Suzuki, Kouhei Ohnishi

Research output: Contribution to journalArticle

84 Citations (Scopus)


Time delay in bilateral control system seriously deteriorates performance and stability. Acceleration-based bilateral control(ABC) is hybrid of position and force control in the acceleration dimension based on a disturbance observer. It can be divided into two modal spaces: common and differential modal spaces. The sum of master force and slave force is controlled to be zero in common modal space to realize the law of action-reaction. The difference of master position and slave position is controlled to be zero in differential modal space for position tracking. This paper analyzes the stability of each modal space under time delay. Based on modal space analysis, this paper proposes a novel frequency-domain damping design using high-pass filter for ABC. The validity of the proposed control system is confirmed by some experimental results.

Original languageEnglish
Article number6129412
Pages (from-to)177-190
Number of pages14
JournalIEEE Transactions on Industrial Electronics
Issue number1
Publication statusPublished - 2013 Jan 1



  • Acceleration-based bilateral control (ABC)
  • frequency-domain damping design (FDD)
  • modal space
  • robust acceleration control
  • time delay

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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