Power-based pseudo-symmetry for 4 channel bilateral control under time delay

Mehdi Hazaz; Kouhei Ohnishi

doi:10.1109/ICMECH.2017.7921073

Power-based pseudo-symmetry for 4 channel bilateral control under time delay

Mehdi Hazaz, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Time delay deteriorates the performances of bilateral control systems. Among time delay compensation methods, the communication disturbance observer (CDOB) is acknowledged for its efficiency. However, the bilateral control system with CDOB is asymmetric and the behavior depends on which the side the operator is manipulating. This paper proposes a technique based on the instantaneous power to determine the location of the operator and shift the influence of the compensation accordingly providing a "pseudo-symmetric" behavior in the sense that the time delay compensated appears symmetrical to the viewpoint of the operator.

Original language	English
Title of host publication	Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	14-19
Number of pages	6
ISBN (Electronic)	9781509045389
DOIs	https://doi.org/10.1109/ICMECH.2017.7921073
Publication status	Published - 2017 May 6
Event	2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia Duration: 2017 Feb 13 → 2017 Feb 15

Other

Other	2017 IEEE International Conference on Mechatronics, ICM 2017
Country/Territory	Australia
City	Gippsland
Period	17/2/13 → 17/2/15

ASJC Scopus subject areas

Electrical and Electronic Engineering
Mechanical Engineering
Control and Optimization

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Hazaz, M & Ohnishi, K 2017, Power-based pseudo-symmetry for 4 channel bilateral control under time delay. in Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017., 7921073, Institute of Electrical and Electronics Engineers Inc., pp. 14-19, 2017 IEEE International Conference on Mechatronics, ICM 2017, Gippsland, Australia, 17/2/13. https://doi.org/10.1109/ICMECH.2017.7921073

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ER -

Power-based pseudo-symmetry for 4 channel bilateral control under time delay

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