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

Author:

Yagi Masaharu1,Idei Genki2,Sawada Yuichi2

Affiliation:

1. Kyoto Waterworks Bureau

2. Division of Mechanical and System Engineering, Kyoto Institute of Technology

Publisher

The Institute of Systems, Control and Information Engineers

Reference13 articles.

1. [1] F. Matsuno, T. Ohno et al.: PDS (Proportional Derivative and Strain) feedback control of a flexible structure with closed-loop mechanism; Proc. of the 38th Conference on Decision and Control, pp. 4331– 4335 (1999)

2. [2] Y. Hoshino, Y. Kobayashi et al.: Motion and force control of flexible master-slave system (Improvement of state estimation during contacting with objects); Trans. of the Japan Society of Mechanical Engineers,C 74 740, pp. 91–98 (2008) (Japanese)

3. [3] H. Fujita and T. Namerikawa: Delay-independent stabilization for teleoperation with time varying delay; 2009 American Control Conference, pp. 5459–5464 (2009)

4. [4] A. Liu, L. Yu et al.: Model predictive control for networked control system with random delay and packet disordering; Proc. of 2011 8th Asian Control Conference, pp. 653–658 (2011)

5. [5] L. Guo and H. Gu: Robust stability of discrete systems with uncertainties and random delay; 2010 International Conference on Measuring Technology and Mechatronics Automation, Vol. 3, pp. 291–294 (2010)

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