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

Mehdi Hazaz, Kouhei Ohnishi

研究成果: Conference contribution

抄録

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.

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

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
国/地域Australia
CityGippsland
Period17/2/1317/2/15

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学
  • 制御と最適化

フィンガープリント

「Power-based pseudo-symmetry for 4 channel bilateral control under time delay」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル