Micro-macro bilateral control taking into account scaling of control gains

Shigeru Susa, Tomoyuki Shimono, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)


In micro-macro bilateral control systems, it is important to use position and force scaling factors that depend on the size of the master and slave system. Moreover, it is vital for control systems to use appropriate control gains depending on the scaling ratio between master and slave response. This paper proposes a micro-macro bilateral control system based on the scaling of control gains. In this system, the control gains of the master and slave system are adjusted to appropriate values by using control gain scaling factors. These scaling factors are obtained by designing a micro- macro bilateral control system to achieve ideal reproducibility. To verify the validity of the proposed system, analytical results for the reproducibility, operationality, and stability of the proposed control system are presented in this paper. Moreover, the proposed system is used in an experimental micro-macro bilateral system, and the results are presented.

Original languageEnglish
Pages (from-to)150-157+6
Journalieej transactions on industry applications
Issue number2
Publication statusPublished - 2009
Externally publishedYes


  • Disturbance observer (DOB)
  • Haptics
  • Micro-macro bilateral control
  • Motion control
  • Scaling

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Micro-macro bilateral control taking into account scaling of control gains'. Together they form a unique fingerprint.

Cite this