Art

J-GLOBAL ID：201502209785741745   Reference number：15A1036325

A Structural Approach to Improve the Stability of Bilateral Control System with Time Delay

時間遅延のあるバイラテラル制御システムの安定性を改善させる構造的手法

Author (2)： HYODO Shoyo (Dep. of System Design Engineering, Keio Univ.) ,  OHNISHI Kouhei (Dep. of System Design Engineering, Keio Univ.)
Material： IEEJ Journal of Industry Applications  (IEEJ J Ind Appl)
Volume： 4  Issue： 5  Page： 526-534 (J-STAGE)  Publication year： 2015 
JST Material Number： F1055A  ISSN： 2187-1094  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： *attitude control ,  *power control ,  *time delay system ,  *stability analysis ,  *master slave system ,  *robot ,  delay ,  *system observer ,  *disturbance ,  *position control ,  mode ,  *modal analysis ,  time varying system ,  experiment ,  tactile sense ,  human(primates)
Semi thesaurus term： bilateral control ,  time-delay system ,  network latency ,  disturbance observer ,  differential mode ,  common mode

JST classification (2)： System identification  (IA02040O) ,  Motion and control of robots  (IC04012J)

Reference (22)：

• (1) P. F. Hokayem and M. W. Spong: “Bilateral Teleoperation; An historical survey”, Automatica, Vol. 42, No. 12, pp. 2035-2057 (2006)
• (2) T. Imaida, Y. Yokokohji, T. Doi, M. Oda, and T. Yoshikawa: “Ground-Space Bilateral Teloperation of ETS-VII Robot Arm by Direct Bilateral Coupling Under 7-s Time Delay Condition”, IEEE Trans. on Robotics and Automation, Vol. 20, No. 3, pp. 499-511 (2004)
• (3) T. Li, L. Ding, H. Gao, G. Duan, and C. Y. Su: “Trilateral Teleoperation of Adaptive Fuzzy Force/Motion Control for Nonlinear Teleoperators With Communication Random Delays”, IEEE Trans. on Fuzzy Systems, Vol. 21, No. 4, pp. 610-624 (2013)
• (4) K. Ohnishi, S. Katsura, and T. Shimono: “Robot as Physical Agent”, Proc. of the IEEE International Conf. on Industrial Technology, Keynote Lecture-I (2006)
• (5) D. A. Lawrence: “Stability and Transparency in Bilateral Teleoperation”, IEEE Trans. on Robotics and Automation, Vol. 9, No. 5, pp. 624-637 (1993)

Terms in the title (4)： 遅延 ,  バイラテラル制御 ,  安定性 ,  手法