Centralized controller based multilateral control with communication delay

Daisuke Yashiro, Dapeng Tian, Kouhei Ohnishi

研究成果: Conference contribution

4 引用 (Scopus)

抜粋

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.

元の言語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
出版物ステータス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
Turkey
Istanbul
期間11/4/1311/4/15

    フィンガープリント

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

これを引用

Yashiro, D., Tian, D., & Ohnishi, K. (2011). Centralized controller based multilateral control with communication delay. : 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings (pp. 991-996). [5971260] (2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings). https://doi.org/10.1109/ICMECH.2011.5971260