Implementation of model-free time delay compensator for bilateral control system with time delay

Shoyo Hyodo, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

Bilateral control is one of the control methods of teleoperation system. The presence of network delays between master and slave robots make the design of bilateral control system challengeable. Because, it seriously deteriorates the performance and possibly makes the system unstable. To overcome the destabilization from network delay, the authors' previous research proposed the model-free time delay compensator. The proposed compensator does not utilized time delay model and plant model, but the bilateral control system is stabilized. In this paper, the bilateral control system with dual model-free compensator has been proposed. The model-free time delay compensator is implemented not only in the master side but also the slave side. The control structure has become symmetric in the master side and the slave side. Furthermore, the performance has been improved. The validity is confirmed by numerical analysis and experimental results.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages580-585
Number of pages6
ISBN (Print)9781479936335
DOIs
Publication statusPublished - 2015 Apr 9
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: 2015 Mar 62015 Mar 8

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
CountryJapan
CityNagoya
Period15/3/615/3/8

Fingerprint

Time delay
Control systems
Remote control
Numerical analysis
Robots

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Hyodo, S., & Ohnishi, K. (2015). Implementation of model-free time delay compensator for bilateral control system with time delay. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 580-585). [7084041] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7084041

Implementation of model-free time delay compensator for bilateral control system with time delay. / Hyodo, Shoyo; Ohnishi, Kouhei.

Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 580-585 7084041.

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

Hyodo, S & Ohnishi, K 2015, Implementation of model-free time delay compensator for bilateral control system with time delay. in Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015., 7084041, Institute of Electrical and Electronics Engineers Inc., pp. 580-585, 2015 IEEE International Conference on Mechatronics, ICM 2015, Nagoya, Japan, 15/3/6. https://doi.org/10.1109/ICMECH.2015.7084041
Hyodo S, Ohnishi K. Implementation of model-free time delay compensator for bilateral control system with time delay. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 580-585. 7084041 https://doi.org/10.1109/ICMECH.2015.7084041
Hyodo, Shoyo ; Ohnishi, Kouhei. / Implementation of model-free time delay compensator for bilateral control system with time delay. Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 580-585
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