Multilateral control under time delay for decoupling force and velocity controllers

Satoshi Nishimura, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


The study proposes a control structure for multilateral control under communication delay that force and velocity, or position controllers are decoupled. Multilateral control realizes haptic sensation transmission between several points, which is a extended structure of a bilateral control system. In multilateral teleoperation, subsystems are placed far from each other, consequently containing a time delay inside the control system. The time delay induces an interference of the controllers, which are in the relation of duality, and it deteriorates the overall performance of transmitting tactile sensation to other subsystems. In this study, a multilateral teleoperation system that the interference phenomenon is eliminated is proposed. The concept of the proposed method is based on modal transformation. The interference between the controllers is eliminated by adequately defining a modal transformation matrix, which is called a network quarry matrix in this paper. The method to determine the network quarry matrix is explained in detail. A multi-master-single-slave system is assumed in this study, and in order to enhance the generality of the proposed method, all of the delay times are assumed to be different. The validity of the proposed method is confirmed through experiments.

Original languageEnglish
Title of host publicationProceedings - 2016 IEEE 25th International Symposium on Industrial Electronics, ISIE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509008735
Publication statusPublished - 2016 Nov 17
Event25th IEEE International Symposium on Industrial Electronics, ISIE 2016 - Santa Clara, United States
Duration: 2016 Jun 82016 Jun 10

Publication series

NameIEEE International Symposium on Industrial Electronics


Other25th IEEE International Symposium on Industrial Electronics, ISIE 2016
Country/TerritoryUnited States
CitySanta Clara

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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