A control design including system connection based on reachability matrix for independent operation of multilateral systems

Tomoki Kono, Seiichiro Katsura

研究成果: Conference contribution

抄録

This paper proposes a design method of multilateral systems including system connection. To consider system connection, the proposal uses a reachability matrix. A multilateral system enables us to transmit haptic information between many human operators. If the multilateral systems consists of many master system and one slave system, many operator can share the haptic information of an environment in the slave system. However, a conventional multilateral system is difficult to realize independent operation of master system. The cause is that a control object is realization of position synchronization in all subsystem. Here, subsystem stands for master and slave system of multilateral systems. Therefore, control design has to introduce another view point for independent operation of multilateral systems. The proposed method pays attention to system connection. Concretely, arrival information between sub-systems is derived by a reachability matrix, to consider system connection in control design. The arrival information is defined as information transmitted between subsystems. In considering the arrival information, control design considering system connection is possibility. By using the proposal, the multilateral system enables many human to operate independently. The validity of the proposed method is confirmed by the experiments.

本文言語English
ホスト出版物のタイトルProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
出版社IEEE Computer Society
ページ1-6
ページ数6
ISBN(電子版)9781509034741
DOI
出版ステータスPublished - 2016 12 21
イベント42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
継続期間: 2016 10 242016 10 27

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
国/地域Italy
CityFlorence
Period16/10/2416/10/27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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