By Topic

Novel Four-Channel Bilateral Control Design for Haptic Communication Under Time Delay Based on Modal Space Analysis

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Suzuki, A. ; Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan ; Ohnishi, K.

Time delay in bilateral control system seriously deteriorates performance and stability. Acceleration-based bilateral control (ABC) is hybrid of position and force control in the acceleration dimension using the disturbance observer. It can be divided into two modal spaces: common and differential. The sum of master and slave forces is controlled to be zero in the common modal space (1,+1) to realize the law of action-reaction. The difference of master and slave positions is controlled to be zero in the differential modal space (1,-1) for position tracking. This brief analyzes the stability of each modal space under time delay. Based on modal space analysis, this brief proposes a novel four-channel (4ch) ABC architecture using two degrees of freedom proportional derivative (PD) control for haptic communication under time delay. In the proposed 4ch ABC, the difference of position is controlled to be zero by P-D control (differential proactive PD control), and the sum of the forces is controlled to be zero by damping-injected force P control. Furthermore, this brief utilizes frequency-domain damping design to realize both high performance and stability based on delay-dependent robust H stability. The proposed 4ch ABC improves the stability of each modal space under time delay. The validity of the proposed control system is confirmed by some experimental results.

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:21 ,  Issue: 3 )