L2 stable four-channel control architecture for bilateral teleoperation with time delay

Daisuke Yashiro, Kouhei Ohnishi

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

Passivity theory is very useful for stability analysis of bilateral teleoperation. Many researchers use passivity-based stabilization method such as scattering theory or wave variables. However, passivity-based stabilization is too conservative to design a high performance teleoperation system. High performance means that human operators can feel high-accuracy reaction force from environments. In this paper, we analyze l2 stability of some bilateral control systems with communication delay using small gain theorem. This theorem is renowned as a stable condition of multi-input multi-output feedback systems. And a novel control architecture which satisfies l2 stable condition of the theorem is proposed. The proposed control system has four communication channels. The validity of the proposed control system is shown by experimental results.

本文言語English
ホスト出版物のタイトルAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
ページ324-329
ページ数6
DOI
出版ステータスPublished - 2008
外部発表はい
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3月 262008 3月 28

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC
1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
国/地域Italy
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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