Power-based pseudo-symmetry for 4 channel bilateral control under time delay

Mehdi Hazaz, Kouhei Ohnishi

研究成果: Conference contribution

抜粋

Time delay deteriorates the performances of bilateral control systems. Among time delay compensation methods, the communication disturbance observer (CDOB) is acknowledged for its efficiency. However, the bilateral control system with CDOB is asymmetric and the behavior depends on which the side the operator is manipulating. This paper proposes a technique based on the instantaneous power to determine the location of the operator and shift the influence of the compensation accordingly providing a "pseudo-symmetric" behavior in the sense that the time delay compensated appears symmetrical to the viewpoint of the operator.

元の言語English
ホスト出版物のタイトルProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
出版者Institute of Electrical and Electronics Engineers Inc.
ページ14-19
ページ数6
ISBN(電子版)9781509045389
DOI
出版物ステータスPublished - 2017 5 6
イベント2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
継続期間: 2017 2 132017 2 15

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
Australia
Gippsland
期間17/2/1317/2/15

    フィンガープリント

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

これを引用

Hazaz, M., & Ohnishi, K. (2017). Power-based pseudo-symmetry for 4 channel bilateral control under time delay. : Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 (pp. 14-19). [7921073] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2017.7921073