Realization of simultaneity in bilateral control system under communication delay

Satoshi Nishimura, Seiichiro Katsura

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

The realization of a new communication medium that realizes the transmission of haptic information between distant places is required. A bilateral control system is an effective technique that can share tactile sensation between two systems. However, the performance of the bilateral control tends to destabilize, and the haptic information deteriorates under a communication delay because haptic information has the bilateral information flow property. This is because the control goals cannot be achieved in real time owing to the delay time. Therefore, a novel method is proposed to realize simultaneity in a bilateral control system under a communication delay. The proposed control system is designed to realize the control goal equations for bilateral control regardless of the delay time and is designed symmetrically. Buffering the force information of the system resolves the interference between the modal space caused by the communication delay. The entire control system is stabilized by using a phase-lag compensator that has the equivalent meaning of acceleration response feedback with a high pass filter. The validity of the proposed method is confirmed by experiments.

Original languageEnglish
Pages (from-to)253-261
Number of pages9
JournalIEEJ Journal of Industry Applications
Volume4
Issue number3
DOIs
Publication statusPublished - 2015

Fingerprint

Control systems
Communication
Time delay
High pass filters
Feedback
Experiments

Keywords

  • Acceleration control
  • Bilateral control system
  • Communication delay
  • Modal space
  • Phase-lag compensator
  • Simultaneity

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Realization of simultaneity in bilateral control system under communication delay. / Nishimura, Satoshi; Katsura, Seiichiro.

In: IEEJ Journal of Industry Applications, Vol. 4, No. 3, 2015, p. 253-261.

Research output: Contribution to journalArticle

@article{a23cb80d9b8c4f3184b3049a17791662,
title = "Realization of simultaneity in bilateral control system under communication delay",
abstract = "The realization of a new communication medium that realizes the transmission of haptic information between distant places is required. A bilateral control system is an effective technique that can share tactile sensation between two systems. However, the performance of the bilateral control tends to destabilize, and the haptic information deteriorates under a communication delay because haptic information has the bilateral information flow property. This is because the control goals cannot be achieved in real time owing to the delay time. Therefore, a novel method is proposed to realize simultaneity in a bilateral control system under a communication delay. The proposed control system is designed to realize the control goal equations for bilateral control regardless of the delay time and is designed symmetrically. Buffering the force information of the system resolves the interference between the modal space caused by the communication delay. The entire control system is stabilized by using a phase-lag compensator that has the equivalent meaning of acceleration response feedback with a high pass filter. The validity of the proposed method is confirmed by experiments.",
keywords = "Acceleration control, Bilateral control system, Communication delay, Modal space, Phase-lag compensator, Simultaneity",
author = "Satoshi Nishimura and Seiichiro Katsura",
year = "2015",
doi = "10.1541/ieejjia.4.253",
language = "English",
volume = "4",
pages = "253--261",
journal = "IEEJ Journal of Industry Applications",
issn = "2187-1094",
publisher = "The Institute of Electrical Engineers of Japan",
number = "3",

}

TY - JOUR

T1 - Realization of simultaneity in bilateral control system under communication delay

AU - Nishimura, Satoshi

AU - Katsura, Seiichiro

PY - 2015

Y1 - 2015

N2 - The realization of a new communication medium that realizes the transmission of haptic information between distant places is required. A bilateral control system is an effective technique that can share tactile sensation between two systems. However, the performance of the bilateral control tends to destabilize, and the haptic information deteriorates under a communication delay because haptic information has the bilateral information flow property. This is because the control goals cannot be achieved in real time owing to the delay time. Therefore, a novel method is proposed to realize simultaneity in a bilateral control system under a communication delay. The proposed control system is designed to realize the control goal equations for bilateral control regardless of the delay time and is designed symmetrically. Buffering the force information of the system resolves the interference between the modal space caused by the communication delay. The entire control system is stabilized by using a phase-lag compensator that has the equivalent meaning of acceleration response feedback with a high pass filter. The validity of the proposed method is confirmed by experiments.

AB - The realization of a new communication medium that realizes the transmission of haptic information between distant places is required. A bilateral control system is an effective technique that can share tactile sensation between two systems. However, the performance of the bilateral control tends to destabilize, and the haptic information deteriorates under a communication delay because haptic information has the bilateral information flow property. This is because the control goals cannot be achieved in real time owing to the delay time. Therefore, a novel method is proposed to realize simultaneity in a bilateral control system under a communication delay. The proposed control system is designed to realize the control goal equations for bilateral control regardless of the delay time and is designed symmetrically. Buffering the force information of the system resolves the interference between the modal space caused by the communication delay. The entire control system is stabilized by using a phase-lag compensator that has the equivalent meaning of acceleration response feedback with a high pass filter. The validity of the proposed method is confirmed by experiments.

KW - Acceleration control

KW - Bilateral control system

KW - Communication delay

KW - Modal space

KW - Phase-lag compensator

KW - Simultaneity

UR - http://www.scopus.com/inward/record.url?scp=85010074958&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85010074958&partnerID=8YFLogxK

U2 - 10.1541/ieejjia.4.253

DO - 10.1541/ieejjia.4.253

M3 - Article

AN - SCOPUS:85010074958

VL - 4

SP - 253

EP - 261

JO - IEEJ Journal of Industry Applications

JF - IEEJ Journal of Industry Applications

SN - 2187-1094

IS - 3

ER -