TY - GEN
T1 - Multilateral control considering condition of system connection
AU - Asai, Tetsuya
AU - Katsura, Seiichiro
AU - Ohishi, Kiyoshi
PY - 2008
Y1 - 2008
N2 - In recent years, a realization of haptic system is strongly desired in industry applications. Also in it, the bilateral control by a master slave system is used widely. We succeeded in realization of "law of action and reaction" among plural system by multilateral control that expanded the bilateral control. Because the plural systems are handled, it becomes important to think of the connection condition among the systems. In this paper, multilateral control considering connection condition based on consensus problem in graph theory. In thinking of the digraph in graph theory as the differential mode of multilateral system, we analyze the haptic transmission by matrix that expresses the graph. The numerical simulation and experimental results show viability of the proposed method.
AB - In recent years, a realization of haptic system is strongly desired in industry applications. Also in it, the bilateral control by a master slave system is used widely. We succeeded in realization of "law of action and reaction" among plural system by multilateral control that expanded the bilateral control. Because the plural systems are handled, it becomes important to think of the connection condition among the systems. In this paper, multilateral control considering connection condition based on consensus problem in graph theory. In thinking of the digraph in graph theory as the differential mode of multilateral system, we analyze the haptic transmission by matrix that expresses the graph. The numerical simulation and experimental results show viability of the proposed method.
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U2 - 10.1109/IECON.2008.4758200
DO - 10.1109/IECON.2008.4758200
M3 - Conference contribution
AN - SCOPUS:63149144974
SN - 9781424417667
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1644
EP - 1649
BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PB - IEEE Computer Society
T2 - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Y2 - 10 November 2008 through 13 November 2008
ER -