Title :
Analysis on bilateral control system with time delay based on mechanical power factor as performance index
Author_Institution :
Dept. of Electr. & Electron. Eng., Chiba Univ., Chiba, Japan
Abstract :
This paper studies analysis of bilateral control system with time delay based on mechanical power factor (MPF) concept. MPF is an interesting and useful performance index for evaluation of motion control systems. In this paper, first, effect of time delay and the effectiveness of a time-delay compensation method by using communication disturbance observer (CDOB) in bilateral control systems are analyzed based on MPF. Then, effects of the controller gains on the performance are studied also based on MPF. The obtained analysis results will be useful guidelines for design of bilateral control systems with time delay.
Keywords :
compensation; control system analysis; control system synthesis; delays; motion control; observers; CDOB; MPF concept; bilateral control system; communication disturbance observer; control system design; controller gain; mechanical power factor; motion control system; performance index; time-delay compensation method; Acceleration; Control systems; Delay effects; Delays; Force; Haptic interfaces; Impedance;
Conference_Titel :
Information and Automation for Sustainability (ICIAfS), 2014 7th International Conference on
DOI :
10.1109/ICIAFS.2014.7069544
