TY - GEN
T1 - Control and measurement delay compensation in bilateral position control
AU - Kuzu, Ahmet
AU - Bogosyan, Seta
AU - Gokasan, Metin
AU - Sabonovic, Asif
PY - 2011
Y1 - 2011
N2 - The main aim of this study is the improvement of the previously presented disturbance observer based bilateral control approaches of the authors with a delay regulator and a model tracking control (MTC) that runs on the slave side. These improvements eliminate the problems related to variable time delay inherent to such systems and model mismatch, respectively, and, hence, addressing the control and measurement delay problems in bilateral control applications. The performance is evaluated experimentally on a single-link arm controlled over the internet. The results demonstrate a significant improvement over the previously presented results obtained under load uncertainties and randomly varying network delays both in the control and feedback loop.
AB - The main aim of this study is the improvement of the previously presented disturbance observer based bilateral control approaches of the authors with a delay regulator and a model tracking control (MTC) that runs on the slave side. These improvements eliminate the problems related to variable time delay inherent to such systems and model mismatch, respectively, and, hence, addressing the control and measurement delay problems in bilateral control applications. The performance is evaluated experimentally on a single-link arm controlled over the internet. The results demonstrate a significant improvement over the previously presented results obtained under load uncertainties and randomly varying network delays both in the control and feedback loop.
KW - Bilateral Control
KW - Communication Delay
KW - Disturbance Observer
KW - Model Tracking
KW - Model Tracking Control
UR - http://www.scopus.com/inward/record.url?scp=80052179544&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2011.5971263
DO - 10.1109/ICMECH.2011.5971263
M3 - Conference contribution
AN - SCOPUS:80052179544
SN - 9781612849836
T3 - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
SP - 1003
EP - 1010
BT - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
T2 - 2011 IEEE International Conference on Mechatronics, ICM 2011
Y2 - 13 April 2011 through 15 April 2011
ER -