A novel viewpoint in bilateral control system with time delay aiming for clear control goals

Hayata Sakai, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

This paper proposes a novel viewpoint of the bilateral control with time delay in terms of modal space and the control method to track position and return force information from the slave to the master well. The bilateral control is characterized by a remote control, which return force information to the local site. Time delay is one of the problems of the bilateral control system, because it degrades the performance and stability of the control system. Various methods for the problems about time delay have been proposed. However, in these methods, the control goals in bilateral control in the presence of time delay have been not taken into account clearly or been not set properly. Therefore, this paper sets novel control goals of bilateral control with time delay in terms of modal space and the control method in which the slave position tracks the master position and the slave's force return to the master well. The validity of the proposed method is demonstrated experimentally.

本文言語English
ホスト出版物のタイトルIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2130-2135
ページ数6
ISBN(電子版)9781479917624
DOI
出版ステータスPublished - 2016 1 25
イベント41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
継続期間: 2015 11 92015 11 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
国/地域Japan
CityYokohama
Period15/11/915/11/12

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 産業および生産工学

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