A decoupling controller design and analysis of multilateral control using disturbance observer in modal space
A decoupling controller design and analysis of multilateral control using disturbance observer in modal space
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DOI：
10.1080/01691864.2013.752320
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发表时间：
2013-01
影响因子：
2
通讯作者：
Shunsuke Yajima;S. Katsura
中科院分区：
文献类型：
--
作者：
Shunsuke Yajima;S. Katsura
本文提出了基于模态空间扰动观测器的多边控制解耦控制器设计和分析。为了传递触觉信息，双侧控制得到了广泛的研究。作为触觉通信的下一步，提出了多边控制。多边控制实现了多个主从系统之间的触觉信息传递。然而，在传统的方法中，假定主从系统的质量是相同的。当主从系统的质量不同时，在变换后的坐标系中会出现干涉项。另一方面，由于该干扰项被模态空间中的DOB消除，该方法可以抑制干扰项。此外，本文还简要分析了模态空间中的力控制器和位置控制器。最后，通过仿真与传统方法进行了性能比较，验证了该方法的有效性。
This paper proposes decoupling controller design and analysis of multilateral control using disturbance observer (DOB) in modal space. For transmitting haptic information, the bilateral control has been studied widely. As next step in haptic communication, the multilateral control was proposed. The multilateral control realizes the transmission of haptic information among some master–slave systems. In conventional method, however, it is assumed that the masses of the master–slave systems are the same. When the masses of the master–slave systems are different, interfered terms in the transformed coordinate are appeared. On the other hand, the proposed method can suppress this interfered terms because this terms are eliminated by the DOB in the modal space. Furthermore, this paper analyzes the force and position controllers in the modal space briefly. Finally, the performance of the proposed method is compared with the conventional method by simulations, and the validity is confirmed.