Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer
In a bilateral control system, reducing the information-transmission channel between the master and slave systems has advantages, such as suppressing data traffic, reducing stored data, and simplifying the control-system design. The position/force hybrid-control-type bilateral control system can rea...
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10474348/ |
| _version_ | 1797231199267061760 |
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| author | Yuki Nagatsu |
| author_facet | Yuki Nagatsu |
| author_sort | Yuki Nagatsu |
| collection | DOAJ |
| description | In a bilateral control system, reducing the information-transmission channel between the master and slave systems has advantages, such as suppressing data traffic, reducing stored data, and simplifying the control-system design. The position/force hybrid-control-type bilateral control system can realize stable and highly transparent bilateral control; however, it requires four transmission channels between the master and slave systems to transmit the position and force information. Several types of conventional two-channel controllers are difficult to operate and contact with hard environments. A two-channel controller with a performance equivalent to that of a four-channel controller exists, but it still requires local position control loops. Therefore, this study proposes a force-symmetric type two-channel bilateral control system based on force control systems with robust acceleration controllers using second-order disturbance observers (DOBs) among higher-order DOBs. Bilateral control systems have two control goals: synchronization of the position of the master-slave system, which is a position-related control goal, and artificial realization of the law of action-reaction between the master-slave system, which is a force-related control goal. Methods using low-order DOBs, such as zero- and first-order DOBs, cannot achieve the position-related control goal. In contrast, the proposed method can achieve both the position and force control goals simultaneously, even though it only has force transmission channels and control loops. This study also showed that the performance of the proposed two-channel bilateral control system is equivalent to that of a four-channel bilateral control system that transmits both position and force information. The effectiveness of the proposed method was confirmed through experiments. |
| first_indexed | 2024-04-24T15:40:35Z |
| format | Article |
| id | doaj.art-5482e28d6a4046079e839baa208eee0e |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-24T15:40:35Z |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-5482e28d6a4046079e839baa208eee0e2024-04-01T23:00:45ZengIEEEIEEE Access2169-35362024-01-0112455724559610.1109/ACCESS.2024.337873410474348Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance ObserverYuki Nagatsu0https://orcid.org/0000-0002-6257-3774Department of Mechanical Systems Engineering, Takushoku University, Hachioji-shi, JapanIn a bilateral control system, reducing the information-transmission channel between the master and slave systems has advantages, such as suppressing data traffic, reducing stored data, and simplifying the control-system design. The position/force hybrid-control-type bilateral control system can realize stable and highly transparent bilateral control; however, it requires four transmission channels between the master and slave systems to transmit the position and force information. Several types of conventional two-channel controllers are difficult to operate and contact with hard environments. A two-channel controller with a performance equivalent to that of a four-channel controller exists, but it still requires local position control loops. Therefore, this study proposes a force-symmetric type two-channel bilateral control system based on force control systems with robust acceleration controllers using second-order disturbance observers (DOBs) among higher-order DOBs. Bilateral control systems have two control goals: synchronization of the position of the master-slave system, which is a position-related control goal, and artificial realization of the law of action-reaction between the master-slave system, which is a force-related control goal. Methods using low-order DOBs, such as zero- and first-order DOBs, cannot achieve the position-related control goal. In contrast, the proposed method can achieve both the position and force control goals simultaneously, even though it only has force transmission channels and control loops. This study also showed that the performance of the proposed two-channel bilateral control system is equivalent to that of a four-channel bilateral control system that transmits both position and force information. The effectiveness of the proposed method was confirmed through experiments.https://ieeexplore.ieee.org/document/10474348/Acceleration controlbilateral controldisturbance observerforce controlforce feedbackhaptic feedback |
| spellingShingle | Yuki Nagatsu Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer IEEE Access Acceleration control bilateral control disturbance observer force control force feedback haptic feedback |
| title | Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer |
| title_full | Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer |
| title_fullStr | Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer |
| title_full_unstemmed | Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer |
| title_short | Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer |
| title_sort | force symmetric type two channel bilateral control system based on higher order disturbance observer |
| topic | Acceleration control bilateral control disturbance observer force control force feedback haptic feedback |
| url | https://ieeexplore.ieee.org/document/10474348/ |
| work_keys_str_mv | AT yukinagatsu forcesymmetrictypetwochannelbilateralcontrolsystembasedonhigherorderdisturbanceobserver |