Design of bilateral control based on complementary sensitivity function using velocity information

Masahiro Tajiri, Yasutaka Fujimoto

Abstract

We propose a bilateral control by design based on complementary sensitivity function. In this control method, we regard force applied by an operator at the master side and contact force from the environment at the slave side as input signals. We are able to determine the transfer function for displacement of the position of the master and slave systems by designing complementary sensitivity function. Thereby this control method is possible to transfer the force at the master side and slave side to the others by feedback only the position information. Adding velocity information in feedback is possible to alleviate the stability condition of the complementary sensitivity function. This paper proposed that the bilateral control can be established in low-order controller.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4412-4417
Number of pages6
ISBN (Electronic)9781479917624
DOIs
StatePublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Tajiri, M., & Fujimoto, Y. (2016). Design of bilateral control based on complementary sensitivity function using velocity information. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. (pp. 4412-4417). [7392786] Institute of Electrical and Electronics Engineers Inc.. DOI: 10.1109/IECON.2015.7392786

Design of bilateral control based on complementary sensitivity function using velocity information. / Tajiri, Masahiro; Fujimoto, Yasutaka.

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 4412-4417 7392786.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tajiri, M & Fujimoto, Y 2016, Design of bilateral control based on complementary sensitivity function using velocity information. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392786, Institute of Electrical and Electronics Engineers Inc., pp. 4412-4417, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 9-12 November. DOI: 10.1109/IECON.2015.7392786
Tajiri M, Fujimoto Y. Design of bilateral control based on complementary sensitivity function using velocity information. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc.2016. p. 4412-4417. 7392786. Available from, DOI: 10.1109/IECON.2015.7392786

Tajiri, Masahiro; Fujimoto, Yasutaka / Design of bilateral control based on complementary sensitivity function using velocity information.

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 4412-4417 7392786.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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