Control design based on reachability matrix for realization of independent operation in multilateral system

This paper proposes a design method of multilateral system based on reachability matrix for independent operation. A multilateral system is a one of the haptic transmission control, which is extended structure of bilateral control. If the multilateral system consists of many master system and one slave system, many human can obtain the haptic information of an environment through a slave system. However, a conventional multilateral system is that independent operation of master system is difficult because of same response of all master system. Therefore, the proposed method is focused on direct and indirect connection of subsystem. Specifically, design of subsystem connection which is satisfied desired performance is based on a reachability matrix and a digraph is derived by the reachability matrix. This research aims to construct multilateral system realizing independent operation and to transmit a haptic information from slave system. By using proposed method, the desired multilateral control that many human can operate independently can be realized. The validity of the proposed method is confirmed through the experiments.