Central controller based hybrid control with communication delay compensator

This paper proposes a structure for a position/force hybrid control through network. In the case of most conventional structures, each terminal controller transmits a position/force interactively. Then these terminals calculate acceleration references by themselves. In contrast, our previous research proposed a novel structure for a position/force hybrid control through network. In this approach, a position/force is transmitted from each terminal controller to a central controller. Then, the central controller calculates acceleration references that are feedback to the terminals. This structure makes it possible to achieve mode-based hybrid controls through networks. However, this structure causes measurable steady-state error that is induced by a delay time compensator. To solve this problem, this paper introduces a delay time compensator that does not require a delay model. This compensator is applied to the central controller based hybrid control system. The validity of the proposed controller is confirmed by experiments.