Central controller for hybrid control over network

Daisuke Yashiro; Asif Sabanovic; Kouhei Ohnishi

doi:10.1109/IECON.2009.5415279

Central controller for hybrid control over network

Daisuke Yashiro, Asif Sabanovic, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

In this paper, a central controller for position/force hybrid control over network is proposed. In the proposed method, the central controller receives position and force information from each plant. Then, the central controller generates acceleration references for each plant by using a hybrid controller and a dead time compensator. As an application, bilateral control with communication delay is implemented. And some simulations and experiments verify the validity of the proposed method.

Original language	English
Pages	2987-2992
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2009.5415279
Publication status	Published - 2009 Dec 1
Event	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal Duration: 2009 Nov 3 → 2009 Nov 5

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Country/Territory	Portugal
City	Porto
Period	09/11/3 → 09/11/5

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IECON.2009.5415279

Cite this

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title = "Central controller for hybrid control over network",

abstract = "In this paper, a central controller for position/force hybrid control over network is proposed. In the proposed method, the central controller receives position and force information from each plant. Then, the central controller generates acceleration references for each plant by using a hybrid controller and a dead time compensator. As an application, bilateral control with communication delay is implemented. And some simulations and experiments verify the validity of the proposed method.",

author = "Daisuke Yashiro and Asif Sabanovic and Kouhei Ohnishi",

year = "2009",

month = dec,

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doi = "10.1109/IECON.2009.5415279",

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AU - Sabanovic, Asif

AU - Ohnishi, Kouhei

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AB - In this paper, a central controller for position/force hybrid control over network is proposed. In the proposed method, the central controller receives position and force information from each plant. Then, the central controller generates acceleration references for each plant by using a hybrid controller and a dead time compensator. As an application, bilateral control with communication delay is implemented. And some simulations and experiments verify the validity of the proposed method.

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T2 - 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009

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Central controller for hybrid control over network

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