A Two Flow Expression Method of Four-Channel Bilateral Control System with Time Delay and Validation of Model-Free Time Delay Compensator

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2015/09/01

タイトル(英語): A Two Flow Expression Method of Four-Channel Bilateral Control System with Time Delay and Validation of Model-Free Time Delay Compensator

著者名: Shoyo Hyodo (Department of System Design Engineering, Keio University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)

著者名(英語): Shoyo Hyodo (Department of System Design Engineering, Keio University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)

キーワード: haptics，bilateral control，network delay，stability

要約(英語): Bilateral control is one of the control methods for teleoperation system. The presence of network delays between a master robot and a slave robot makes the design of bilateral control system challengeable. It seriously deteriorates the performance and possibly makes the system unstable. In this paper, to overcome the destabilization from network delay, the model-free time delay compensator is proposed. The proposed compensator does not utilize time delay model and plant model, but the bilateral control system is stabilized. The stability of the proposed control system is shown by using two flow expression method. Two flow expression method models the master system and the slave system of four-channel bilateral control system as single input and single output system. This method makes the analysis for the stability and the performance of the four-channel bilateral control system simple. The validity of the proposed model-free time delay compensator is confirmed by numerical and experimental results.

本誌: IEEJ Journal of Industry Applications Vol.4 No.5 （2015）

本誌掲載ページ: 574-581 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/4/5/4_574/_article/-char/ja/