Centralized controller based multilateral control with communication delay

This paper proposes a centralized controller based multilateral control system considering communication delay. The multilateral control system is a kind of position/force hybrid control systems using more than two robots. Conventional distributed controller based multilateral controller does not achieve high control performance due to communication delay between each robots. Therefore, this paper utilizes a centralized controller and an delay-model-free predictor to improve control performance. The validity is confirmed by some analyses and experiments.