Centralized controller based multilateral control with communication delay

Daisuke Yashiro, Dapeng Tian, Kouhei Ohnishi

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

This paper proposes a centralized controller based multilateral control system considering communication delay. The multilateral control system is a kind of position/force hybrid control systems using more than two robots. Conventional distributed controller based multilateral controller does not achieve high control performance due to communication delay between each robots. Therefore, this paper utilizes a centralized controller and an delay-model-free predictor to improve control performance. The validity is confirmed by some analyses and experiments.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
ページ991-996
ページ数6
DOI
出版ステータスPublished - 2011 9 2
イベント2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey
継続期間: 2011 4 132011 4 15

出版物シリーズ

名前2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

Other

Other2011 IEEE International Conference on Mechatronics, ICM 2011
国/地域Turkey
CityIstanbul
Period11/4/1311/4/15

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

フィンガープリント

「Centralized controller based multilateral control with communication delay」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル