Application of infinite mode networks theory to haptic teleoperation for noise suppression

Baris Yalcin, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)


In this paper, a novel multi input multi output network model entitled as "infinite mode networks" is explained. The model proposes a new and challenging design concept. It has mathematically clear input output relationship compared to neural networks. This new model has a desired embedded internal function which roughly determines a route for the whole system to follow as DNA does for biological systems. By this model, infinitely many error dimensions can be defined and each error converges to zero in a stable manner. Additional to the network theory, applications on a four channel haptic bilateral teleoperation control system whose performance is degraded via feedback and feedforward sensor noise are shown. This type of noise suppression is challenging because of two reasons: to obtain an ideal performance disturbance observers necessitate high gains that in turn make the system unstable under feedback and feedforward noises, in a four channel structure noise is reflected back and forth to both bilateral robots which in turn results in unpurified force and position data.

ホスト出版物のタイトルProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
出版社IEEE Computer Society
出版ステータスPublished - 2008 1月 1


名前IECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学


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