Performance enhancement of bilateral control under time delay using nonlinear filter

Hidetaka Morimitsu, Seiichiro Katsura, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Bilateral control has long been researched as a technology that facilitates the tele-operation with feedback of haptic sensation. However, it is well known that the time delay for communication between master and slave systems easily deteriorates the performance of the haptic communication. This study focuses on the use of nonlinear filter for bilateral control under time delay. It is known that the time delay in communication degrades the rendering performance of haptic sensation. The filter employed in this study is SPAN (Split PAth Nonlinear) filter, which enables the independent design of gain and phase characteristics for fundamental wave. By the filter, it is expected that the design freedom of controller is increased and performance of haptic communication under time delay is recovered. The validity of the proposed system is shown by simulation and experimental results.

本文言語English
ホスト出版物のタイトル2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ735-740
ページ数6
ISBN(印刷版)9781479923243
DOI
出版ステータスPublished - 2014 1月 1
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3月 142014 3月 16

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
国/地域Japan
CityYokohama
Period14/3/1414/3/16

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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