Control and measurement delay compensation in bilateral position control

Ahmet Kuzu; Seta Bogosyan; Metin Gokasan; Asif Sabonovic

doi:10.1109/ICMECH.2011.5971263

Control and measurement delay compensation in bilateral position control

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

^*Bu çalışma için yazışmadan sorumlu yazar

Kontrol ve Otomasyon Mühendisliği Bölümü

Scientific and Technological Research Council of Turkey
University of Alaska Fairbanks
Sabanci University

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

5 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
Sayfalar	1003-1010
Sayfa sayısı	8
DOI'lar	https://doi.org/10.1109/ICMECH.2011.5971263
Yayın durumu	Yayınlandı - 2011
Etkinlik	2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Türkiye Süre: 13 Nis 2011 → 15 Nis 2011

Yayın serisi

Adı	2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

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???event.eventtypes.event.conference???	2011 IEEE International Conference on Mechatronics, ICM 2011
Ülke/Bölge	Türkiye
Şehir	Istanbul
Periyot	13/04/11 → 15/04/11

Belgeye Erişim

10.1109/ICMECH.2011.5971263

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

@inproceedings{98342132790945069b0e91fa2ef0e572,

title = "Control and measurement delay compensation in bilateral position control",

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.",

keywords = "Bilateral Control, Communication Delay, Disturbance Observer, Model Tracking, Model Tracking Control",

author = "Ahmet Kuzu and Seta Bogosyan and Metin Gokasan and Asif Sabonovic",

year = "2011",

doi = "10.1109/ICMECH.2011.5971263",

language = "English",

isbn = "9781612849836",

series = "2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings",

pages = "1003--1010",

booktitle = "2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings",

note = "2011 IEEE International Conference on Mechatronics, ICM 2011 ; Conference date: 13-04-2011 Through 15-04-2011",

}

Kuzu, A, Bogosyan, S, Gokasan, M & Sabonovic, A 2011, Control and measurement delay compensation in bilateral position control. in 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings., 5971263, 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings, pp. 1003-1010, 2011 IEEE International Conference on Mechatronics, ICM 2011, Istanbul, Türkiye, 13/04/11. https://doi.org/10.1109/ICMECH.2011.5971263

Control and measurement delay compensation in bilateral position control. / Kuzu, Ahmet; Bogosyan, Seta; Gokasan, Metin et al.
2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings. 2011. p. 1003-1010 5971263 (2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings).

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

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 - https://www.scopus.com/pages/publications/80052179544

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 -

Control and measurement delay compensation in bilateral position control

Özet

Yayın serisi

???event.eventtypes.event.conference???

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap