Design of master's position controller for bilateral control system with time delay

被引：0
|
作者：
Yashiro, Daisuke [1 ]
Hieno, Tadashi [1 ]
Yubai, Kazuhiro [1 ]
Komada, Satoshi [1 ]
机构：
[1] Department of Electrical and Electronic Engineering, Mie University, 1577, Kurimamachiya, Tsu, Mie
来源：
IEEJ Transactions on Industry Applications | 2015年 / 135卷 / 03期
基金：
日本学术振兴会;
关键词：
Adaptive control; Bilateral control; Delay; Disturbance observer; Haptics; Teleoperation;
D O I：
10.1541/ieejias.135.268
中图分类号：
学科分类号：
摘要：
A time delay between a master robot and slave robot degrades the stability of a bilateral control system. Thus, this paper presents an analysis on the relations between the position controller's gain on the master side, the control performance, and the stability. The analytical results showed that the stability is guaranteed when the gain is equal to the stiffness of the contact object. Accordingly, an adaptive controller that dynamically determines the gain depending on the stiffness was designed. The validity of the adaptive controller was verified through simulations and experiments. © 2015 The Institute of Electrical Engineers of Japan.
引用
收藏
页码：268 / 275
页数：7
相关论文
共 50 条
  • [31] A Controller Design Method of Bilateral Teleoperation for Velocity Control Driver
    Saito, Yuki
    Shimmyo, Shuhei
    Nozaki, Takahiro
    Ohnishi, Kouhei
    45TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2019), 2019, : 3585 - 3590
  • [32] BILATERAL CONTROL OF THE MASTER SLAVE MANIPULATOR SYSTEM
    HASHINO, S
    JOURNAL OF MECHANICAL ENGINEERING LABORATORY, 1992, 46 (02): : 161 - 176
  • [33] Synchronization control for bilateral teleoperation system with position error constraints: A fixed-time approach
    Wang, Ziwei
    Sun, Yanchao
    Liang, Bin
    ISA TRANSACTIONS, 2019, 93 : 125 - 136
  • [34] A Novel Viewpoint in Bilateral Control System with Time Delay Aiming for Clear Control Goals
    Sakai, Hayata
    Ohnishi, Kouhei
    IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2015, : 2130 - 2135
  • [35] Fast Estimation of Environment's Stiffness for Bilateral Control Systems with Communication Delay
    Yashiro, Daisuke
    Yubai, Kazuhiro
    Komada, Satoshi
    IEEJ JOURNAL OF INDUSTRY APPLICATIONS, 2016, 5 (06) : 422 - 428
  • [36] Bilateral control of teleoperator systems with time-varying delay
    Wang, Hanlei
    AUTOMATICA, 2021, 134
  • [37] A bilateral control scheme for vehicle steer-by-wire system with road feel and steering controller design
    Zheng, Hongyu
    Hu, Jinghuan
    Liu, Yahui
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2019, 41 (03) : 593 - 604
  • [38] Adaptive Neural Network Fixed-Time Control Design for Bilateral Teleoperation With Time Delay
    Zhang, Shuang
    Yuan, Shuo
    Yu, Xinbo
    Kong, Linghuan
    Li, Qing
    Li, Guang
    IEEE TRANSACTIONS ON CYBERNETICS, 2022, 52 (09) : 9756 - 9769
  • [39] Bilateral Control of Teleoperation Systems With Time Delay
    Islam, Shafiqul
    Liu, P. X.
    El Saddik, Abdulmotaleb
    Yang, Yubin B.
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2015, 20 (01) : 1 - 12
  • [40] A Method of Scaling Bilateral Control System with Time Delay in Terms of Modal Space
    Sakai, Hayata
    Tomizuka, Daisuke
    Ohnishi, Kouhei
    PROCEEDINGS 2016 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT), 2016, : 24 - 29
12345