Bilateral Control System of Nonlinear Flexible Master-Slave Arms with Random Delay Using Extended Kalman Filter

Stochastic Systems Theory and its Applications (SSS)

2019

Self Cite

This paper investigates a networked bilateral control system affected by a contact force. The proposed system consists of rigid master and nonlinear flexible slave arms, and the network which causes a random delay connects both arms. The slave arm collides with an obstacle during its motion. An extended Kalman filter is designed to reduces the effect of the random delay. Numerical simulations is demonstrated to confirm the performance of the proposed system.

Section: Introductionmentioning

confidence: 80%

“…where δW (t) denotes the virtual work [8]. s is the Lagrange multiplier and is considered a force which is given by colliding with the obstacle.…”

Section: Flexible Slave Armmentioning

confidence: 99%

Section: Synthesis Of Extended Kalman Filtermentioning

confidence: 99%

Section: Synthesis Of Controllersmentioning

confidence: 99%

See 2 more Smart Citations

Bilateral Control System of Nonlinear Flexible Master-Slave Arms with Random Delay Affected by Contact Force with Obstacle

Yagi¹,

Stochastic Systems Theory and its Applications (SSS)

2019

Self Cite

PDS Based Bilateral Control System of Flexible Master-Slave Arms with Random Delay Considering Contact with Obstacle

Yagi¹,

2019

Transactions of ISCIE

Self Cite

A PDS based bilateral control system of flexible master-slave arms with random delay is investigated in this paper. Moreover, a flexible slave arm employed in this research is affected by a contact force. A rigid master arm and a flexible slave arm which is actuated by a high-geared servomotor construct the proposed bilateral control system. Both arms are connected by a communication network. It is considered that this network occurs a random delay. Furthermore, the contact force is added to the flexible arm during its motion. Thus, the motion of this arm is restricted by the contact force. A Kalman filter is designed to estimate signals and controllers for both arms are designed as the PD-and PDS-controllers, respectively. Numerical simulations are achived to confirm the performance of the proposed system such as the instability of its motion and the adaptivity of the Kalman filter.

PDS Based Bilateral Control System for Nonlinear Flexible Master-Slave Arms with Random Delay Considering Contact with Obstacle

Yagi¹,

2020

Transactions of ISCIE

Self Cite

A bilateral control system connected by a communication network is investigated in this research. A rigid arm is employed as a master arm. A flexible arm is employed as a slave arm and is modeled by a nonlinear system. Moreover, the slave arm collides with an obstacle during its motion. The communication network causes a random delay. Hence, signals become noisy due to this delay. An extended Kalman filter is designed to reduce the effect of the random delay. Numerical simulations are demonstrated to confirm the performance of the proposed system.