Micro-macro bilateral control taking into account scaling of control gains

Shigeru Susa, Tomoyuki Shimono, Kouhei Ohnishi

Research output: Contribution to journalArticle

13 Citations (Scopus)

Abstract

In micro-macro bilateral control systems, it is important to use position and force scaling factors that depend on the size of the master and slave system. Moreover, it is vital for control systems to use appropriate control gains depending on the scaling ratio between master and slave response. This paper proposes a micro-macro bilateral control system based on the scaling of control gains. In this system, the control gains of the master and slave system are adjusted to appropriate values by using control gain scaling factors. These scaling factors are obtained by designing a micro- macro bilateral control system to achieve ideal reproducibility. To verify the validity of the proposed system, analytical results for the reproducibility, operationality, and stability of the proposed control system are presented in this paper. Moreover, the proposed system is used in an experimental micro-macro bilateral system, and the results are presented.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume129
Issue number2
DOIs
Publication statusPublished - 2009

Fingerprint

Gain control
Macros
Control systems

Keywords

  • Disturbance observer (DOB)
  • Haptics
  • Micro-macro bilateral control
  • Motion control
  • Scaling

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Micro-macro bilateral control taking into account scaling of control gains. / Susa, Shigeru; Shimono, Tomoyuki; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 129, No. 2, 2009.

Research output: Contribution to journalArticle

Susa, Shigeru ; Shimono, Tomoyuki ; Ohnishi, Kouhei. / Micro-macro bilateral control taking into account scaling of control gains. In: IEEJ Transactions on Industry Applications. 2009 ; Vol. 129, No. 2.
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