A Controller Design Method of Bilateral Control System

Tsuji, T.; Natori, Kenji; Nishi, Hiroaki; Ohnishi, Kouhei

doi:10.1080/09398368.2006.11463616

Cited by 43 publications

(21 citation statements)

References 3 publications

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“…After some simplification,σ can be written asσ = Gẋ r − Gf − GBu(t) = GB(u eq − u(t)), and can be further deduced to (8) …”

Section: A Design Of Discrete Sliding-mode Controllermentioning

confidence: 99%

“…The discrete-time implementation of control is most likely, so we will show an approach that allows approximation of term u eq and leads to simple recursive implementation of the control algorithm (8).…”

Section: A Design Of Discrete Sliding-mode Controllermentioning

confidence: 99%

“…Nowadays, many researchers have come up with the notion of "multilateral control" [5], [6] consisting of more than two systems working with proper coordination to achieve a desired task. In order to perform telemicromanipulation, it is indispensable to achieve robust and transparent bilateral controllers for human intervention so that high-fidelity position/force interaction between the operator and the remote micro/nano environment can be achieved [7], [8]. As bilateral control enables skilled teleoperation on several tasks, it offers better safety, low cost, and high accuracy.…”

mentioning

confidence: 99%

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Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller

Khan

Şabanoviç

Nergiz

2009

IEEE Trans. Ind. Electron.

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Abstract-In this paper, the design of a discrete-time slidingmode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage was used with nominal parameters to compensate the disturbance acting on the system in order to achieve nanometer accuracy. The effectiveness of the controller and disturbance observer is validated in terms of closed-loop position performance for nanometer references. The control structure has been applied to a scaled bilateral structure for the custom-built telemicromanipulation setup. A piezoresistive atomic force microscope cantilever with a built-in Wheatstone bridge is utilized to achieve the nanonewtonlevel interaction forces between the piezoresistive probe tip and the environment. Experimental results are provided for the nanonewton-range force sensing, and good agreement between the experimental data and the theoretical estimates has been demonstrated. Force/position tracking and transparency between the master and the slave has been clearly demonstrated after necessary scaling.

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“…After some simplification,σ can be written asσ = Gẋ r − Gf − GBu(t) = GB(u eq − u(t)), and can be further deduced to (8) …”

Section: A Design Of Discrete Sliding-mode Controllermentioning

confidence: 99%

Section: A Design Of Discrete Sliding-mode Controllermentioning

confidence: 99%

mentioning

confidence: 99%

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Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller

Khan

Şabanoviç

Nergiz

2009

IEEE Trans. Ind. Electron.

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“…This part introduces the idea of functionality (13) . At first, a system role is defined as follows: Definition 1 "System role" is a description on the requirement from a user to a robot control system.…”

Section: Definition Of Functionmentioning

confidence: 99%

“…The authors have proposed function-based controller design for a bilateral control system, the simplest form of a decentralized control system (13) . In this paper, the method is expanded to a decentralized control system with multiple subsystems.…”

Section: Introductionmentioning

confidence: 99%

A Controller Design Method of Decentralized Control System

2006

Self Cite

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Decentralized control is a promising method with many advantages while an effective design method for it is desired. Design in conventional methods is complicated because the correspondence between a system role and its controllers is unclear. This paper aims at establishing a design framework for decentralized control systems that deals with task shift, faults, performance limits, and environmental variation in a unified manner. We have proposed functionbased controller design for a bilateral control system, the simplest form of a decentralized control system. In this paper, the method is expanded to a decentralized control system with multiple subsystems. "Function" is defined as a minimum component of a system role. Conversely, the system role is described as a combination of functions. Controllers are designed based on functions instead of control objects. This idea solves the problem of design complexity in decentralized control systems.In this study, robot information is transformed to new coordinate space based on functions to associate function-based controllers with control objects. The controllers are designed in the new coordinate space based on functions. This new coordinate space is called function coordinate space. On the other hand, the original coordinate space is called robot coordinate space. The overview of the control system is shown in Fig. 1. The robot coordinate is transformed to function coordinate by transformation matrix T.The dynamics in each coordinate does not interact with each other. Therefore, the control system shown in Fig. 1 could be treated as a decoupled system. Essential behavior of the function in the function coordinate space is simple although one function-based controller affects multiple robots. The behavior realized by each function-based controller is named "function mode". The behavior of the entire system in robot coordinate space shows up as superposition of function modes.The design flow of function-based control system is shown in Fig. 2. This method makes the controller design explicit since system role and individual controllers are related directly. The controller design also becomes simple since each function is a minimum component of the system role. These features provide some advantages for the system. For example, flexibility is improved because of simple design for task shift. This system can also handle The main idea of function-based controller design is to design each controller as a detachable component. Many kinds of functionbased controllers are designed in advance like peripheral equipment. Among them, requisite functions are exerted depending on the varying system role. Great patterns of tasks are realized with such a framework. In sum, this framework is useful for control of robots adaptive to complicated environments since it solves the issues of task variation and exception handling of complicated systems. Results on experiments and simulations show validity of the proposed method.-13 - Paper A Controller Design Method of Decentralized Control...

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SMC framework in motion control systems

Şabanoviç¹

2007

Adaptive Control & Signal

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SUMMARYDesign of a motion control system should take into account both the unconstrained motion performed without interaction with environment or other system, and the constrained motion where system is in contact with environment or has certain functional interaction with another system. In this paper control systems design approach, based on siding mode methods, that allows selection of control for generic tasks as trajectory and/or force tracking as well as for systems that require maintain some functional relation -like bilateral or multilateral systems, establisment of virtual relation among mobile robots or control of haptic systems is presented. It is shown that all basic motion control problems -trajectory tracking, force control, hybrid position/force control scheme and the impedance control -can be treated in the same way while avoiding the structural change of the controller and guarantying stable behavior of the system In order to show applicability of the proposed techniques simulation and experimental results for high precision systems in microsystems assembly tasks and bilateral control systems are presented.

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A Controller Design Method of Bilateral Control System

Cited by 43 publications

References 3 publications

Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller

Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller

A Controller Design Method of Decentralized Control System

SMC framework in motion control systems

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