Multilateral control under time delay for decoupling force and velocity controllers

Satoshi Nishimura, Seiichiro Katsura

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

The study proposes a control structure for multilateral control under communication delay that force and velocity, or position controllers are decoupled. Multilateral control realizes haptic sensation transmission between several points, which is a extended structure of a bilateral control system. In multilateral teleoperation, subsystems are placed far from each other, consequently containing a time delay inside the control system. The time delay induces an interference of the controllers, which are in the relation of duality, and it deteriorates the overall performance of transmitting tactile sensation to other subsystems. In this study, a multilateral teleoperation system that the interference phenomenon is eliminated is proposed. The concept of the proposed method is based on modal transformation. The interference between the controllers is eliminated by adequately defining a modal transformation matrix, which is called a network quarry matrix in this paper. The method to determine the network quarry matrix is explained in detail. A multi-master-single-slave system is assumed in this study, and in order to enhance the generality of the proposed method, all of the delay times are assumed to be different. The validity of the proposed method is confirmed through experiments.

本文言語English
ホスト出版物のタイトルProceedings - 2016 IEEE 25th International Symposium on Industrial Electronics, ISIE 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1258-1263
ページ数6
2016-November
ISBN(電子版)9781509008735
DOI
出版ステータスPublished - 2016 11月 15
イベント25th IEEE International Symposium on Industrial Electronics, ISIE 2016 - Santa Clara, United States
継続期間: 2016 6月 82016 6月 10

Other

Other25th IEEE International Symposium on Industrial Electronics, ISIE 2016
国/地域United States
CitySanta Clara
Period16/6/816/6/10

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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