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Time Delay Compensation by Communication Disturbance Observer in Bilateral Teleoperation Systems
https://sucra.repo.nii.ac.jp/records/9322
https://sucra.repo.nii.ac.jp/records/932240090382-8f9a-490c-827b-071e976ed7f1
名前 / ファイル | ライセンス | アクション |
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A1002444.pdf (826.9 kB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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公開日 | 2008-02-07 | |||||
タイトル | ||||||
タイトル | Time Delay Compensation by Communication Disturbance Observer in Bilateral Teleoperation Systems | |||||
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 | ||||||
Kenji, Natori | ||||||
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 |
Advanced Motion Control, 2006. 9th IEEE International Workshop p. 218-223, 発行日 2006 |
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年月次 | ||||||
2006 | ||||||
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/AMC.2006.1631661 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | In a research area of bilateral teleoperation systems, time delay generated in communication line is one of very serious problems. Time delay in control systems induces severe phase delay. Then the phase delay possibly destabilizes the system and deteriorates performance of the system. Therefore many studies about time delay in bilateral teleoperation systems have been conducted so far. Some researches have accomplished stabilization method or compensation method of constant time delay. However compensation of time-varying or fluctuant time delay has not been completed. This paper introduces a novel compensation method of time delay. The method is based on the concept of network disturbance (ND) and communication disturbance observer (CDOB). CDOB estimates ND and estimated value is utilized for the compensation of time delay. In addition, because it does not need delay time model, it can be applied to systems with time-varying or fluctuant time delay. Furthermore the method is very simple and it is very easy to implement. The effectiveness of the proposed method is verified by simulation and experimental results | |||||
注記 | ||||||
内容記述タイプ | Other | |||||
内容記述 | (c)2006 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 | 2008-02-07 | |||||
日付タイプ | Created | |||||
アイテムID | ||||||
A1002444 |