This study discusses a design of compensation filter for multilateral control under time delay. Multilateral control is considered to be effective for tele-teaching by hand. However, time delay for communication among the systems can cause several adverse effects such as destabilization and unstable overshoot in position tracking. Among them, this study considers the overshoot in free motion and designs specialized compensator based on analyses on transfer functions. The proposed filter can improve the performance of free motion while keeping the other performances same, and it is expected to work especially for remote trajectory teaching using multilateral control. Applicability of the proposal is tested by simulations and experiments.
|Title of host publication
|2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - 2014 Jan 1
|2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 14 → 2014 Mar 16
|International Workshop on Advanced Motion Control, AMC
|2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
|14/3/14 → 14/3/16
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering