TY - GEN
T1 - Centralized controller based multilateral control with communication delay
AU - Yashiro, Daisuke
AU - Tian, Dapeng
AU - Ohnishi, Kouhei
PY - 2011/9/2
Y1 - 2011/9/2
N2 - This paper proposes a centralized controller based multilateral control system considering communication delay. The multilateral control system is a kind of position/force hybrid control systems using more than two robots. Conventional distributed controller based multilateral controller does not achieve high control performance due to communication delay between each robots. Therefore, this paper utilizes a centralized controller and an delay-model-free predictor to improve control performance. The validity is confirmed by some analyses and experiments.
AB - This paper proposes a centralized controller based multilateral control system considering communication delay. The multilateral control system is a kind of position/force hybrid control systems using more than two robots. Conventional distributed controller based multilateral controller does not achieve high control performance due to communication delay between each robots. Therefore, this paper utilizes a centralized controller and an delay-model-free predictor to improve control performance. The validity is confirmed by some analyses and experiments.
KW - Multilateral control
KW - centralized controller
KW - delay
KW - delay-model-free predictor
KW - hybrid control
UR - http://www.scopus.com/inward/record.url?scp=80052172712&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80052172712&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2011.5971260
DO - 10.1109/ICMECH.2011.5971260
M3 - Conference contribution
AN - SCOPUS:80052172712
SN - 9781612849836
T3 - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
SP - 991
EP - 996
BT - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
T2 - 2011 IEEE International Conference on Mechatronics, ICM 2011
Y2 - 13 April 2011 through 15 April 2011
ER -