Analysis of bilateral systems with time delay

Kenji Natori, Seiichiro Katsura, Toshiaki Tsuji, Kouhei Ohnishi

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

Bilateral control is an effective method for reproduction of tactile sense. Therefore many researches have been conducted so far. That is about not only stability but also performance. In this paper, one of evaluation indices of bilateral systems, "Transparency" is applied to the case with time delay. Both master and slave site of the system used in this research come with acceleration control system by disturbance observer. Therefore the system is very robust to disturbance and parameter variation. The relation of force and position information of both master and slave is formulated using hybrid matrix. Then frequency responses of the elements of hybrid matrix are analyzed taking band-width of disturbance observer and reaction force observer, time delay into account. From those frequency responses, it is found out that there exists unfamiliar phenomenon (an infinite number of resonances) induced by the dimensionless characteristic of time delay. Therefore the relation of time delay and the phenomenon is discussed and clarified using Pade approximation. Then using the result, new stabilization method is proposed. It is based on phase-lead compensation.

本文言語English
ホスト出版物のタイトルProceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
ページ1511-1516
ページ数6
DOI
出版ステータスPublished - 2005 12 1
イベントIEEE International Symposium on Industrial Electronics 2005, ISIE 2005 - Dubrovnik, Croatia
継続期間: 2005 6 202005 6 23

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics
IV

Other

OtherIEEE International Symposium on Industrial Electronics 2005, ISIE 2005
国/地域Croatia
CityDubrovnik
Period05/6/2005/6/23

ASJC Scopus subject areas

  • 電子工学および電気工学

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