Force sensorless bilateral control using a dynamical asymmetric compensator

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

Abstract

Among other bilateral control systems, those of symmetric type have advantage of simple structure, force sensorless and readiness to stabilize. However, a symmetric type bilateral system is known to have poor haptic performance. In this paper, we propose a bilateral system design without force sensor, based on a generalized system structure of master slave systems. Force feedback and position tracking performance are taken into account by H2 performance at frequency range of the desired haptic transfer, and influence of the measurement noise is suppressed by H-infinity condition. Such a multi-objective controller is designed by solving a semidefinite programming problem. The derived controller tends to have large condition number; we truncate balanced realization of the controller to obtain feasible feedback systems. Effectiveness of the proposed approach is illustrated by numerical studies in time as well as frequency domains, and also experiments.

Original languageEnglish
Title of host publication2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014
PublisherIEEE Computer Society
Pages2470-2475
Number of pages6
ISBN (Print)9781479927050
DOIs
Publication statusPublished - Jan 1 2014
Event7th International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014 - Hiroshima, Japan
Duration: May 18 2014May 21 2014

Publication series

Name2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014

Other

Other7th International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014
CountryJapan
CityHiroshima
Period5/18/145/21/14

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Keywords

  • Bilateral control
  • Force sensorless
  • asymmetrric compensator
  • semidefinite programming problem

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Hama, R., Imai, J., Takahashi, A., & Funabiki, S. (2014). Force sensorless bilateral control using a dynamical asymmetric compensator. In 2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014 (pp. 2470-2475). [6869936] (2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014). IEEE Computer Society. https://doi.org/10.1109/IPEC.2014.6869936