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Robust Bilateral Control with Internet Communication
https://sucra.repo.nii.ac.jp/records/9313
https://sucra.repo.nii.ac.jp/records/9313c424ac29-a27a-4a5b-a917-56634773e13d
名前 / ファイル | ライセンス | アクション |
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A1002434.pdf (382.0 kB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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公開日 | 2008-02-06 | |||||
タイトル | ||||||
タイトル | Robust Bilateral Control with Internet Communication | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
著者 |
名取, 賢二
× 名取, 賢二× 辻, 俊明× 大西, 公平 |
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著者 ローマ字 | ||||||
NATORI, Kenji | ||||||
著者 ローマ字 | ||||||
TSUJI, Toshiaki | ||||||
著者 ローマ字 | ||||||
OHNISHI, Kouhei | ||||||
著者 所属 | ||||||
著者 所属 | ||||||
慶應義塾大学理工学部システムデザイン工学科 | ||||||
著者 所属(別言語) | ||||||
著者 所属(別言語) | ||||||
Faculty of Science and Technology, Department of System Design Engineering, Keio University | ||||||
書誌情報 |
Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE 巻 3, p. 2321-2326, 発行日 2004 |
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年月次 | ||||||
2004-11 | ||||||
出版者名 | ||||||
出版者 | IEEE-Institute of Electrical and Electronics Engineers, Inc | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.1109/IECON.2004.1432162 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | Smith predictor is a well-known method for compensating time delay in control systems. Therefore, it has been applied to many systems with time delay so far. However, delay time should be estimated precisely in this method. So, if time delay is fluctuant and unpredictable, like the communication delay over the Internet, performance of Smith predictor deteriorates. This paper proposes "Communication Disturbance Observer". It regards the error caused by time delay as disturbance torque (or acceleration), then it can observe and compensate the error. Furthermore, it doesn't need to estimate the value of delay time; therefore it can be applied to control systems with fluctuant and unpredictable time delay. It can be said that control system with "Communication Disturbance Observer" is robust to time delay and fluctuation of that. Effectiveness and robustness of proposed method is shown by result of simulation and experiment. In experiment, master-slave manipulator was used over the Internet. We were able to get the sense of touch from the environment of remote site. | |||||
注記 | ||||||
内容記述タイプ | Other | |||||
内容記述 | (c)2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||
版 | ||||||
[出版社版] | ||||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
資源タイプ | ||||||
内容記述タイプ | Other | |||||
内容記述 | text | |||||
作成日 | ||||||
日付 | 2008-02-06 | |||||
日付タイプ | Created | |||||
アイテムID | ||||||
A1002434 |