Power-based pseudo-symmetry for 4 channel bilateral control under time delay

Mehdi Hazaz, Kouhei Ohnishi

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

Abstract

Time delay deteriorates the performances of bilateral control systems. Among time delay compensation methods, the communication disturbance observer (CDOB) is acknowledged for its efficiency. However, the bilateral control system with CDOB is asymmetric and the behavior depends on which the side the operator is manipulating. This paper proposes a technique based on the instantaneous power to determine the location of the operator and shift the influence of the compensation accordingly providing a "pseudo-symmetric" behavior in the sense that the time delay compensated appears symmetrical to the viewpoint of the operator.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages14-19
Number of pages6
ISBN (Electronic)9781509045389
DOIs
Publication statusPublished - 2017 May 6
Event2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
Duration: 2017 Feb 132017 Feb 15

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
CountryAustralia
CityGippsland
Period17/2/1317/2/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Hazaz, M., & Ohnishi, K. (2017). Power-based pseudo-symmetry for 4 channel bilateral control under time delay. In Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 (pp. 14-19). [7921073] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2017.7921073