Control and measurement delay compensation in bilateral position control

Ahmet Kuzu*, Seta Bogosyan, Metin Gokasan, Asif Sabonovic

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
Pages1003-1010
Number of pages8
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey
Duration: 13 Apr 201115 Apr 2011

Publication series

Name2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

Conference

Conference2011 IEEE International Conference on Mechatronics, ICM 2011
Country/TerritoryTurkey
CityIstanbul
Period13/04/1115/04/11

Keywords

  • Bilateral Control
  • Communication Delay
  • Disturbance Observer
  • Model Tracking
  • Model Tracking Control

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