Bilateral Control for Stochastic Flexible Master-Slave System with Communication Failures

摘要

Bilateral control via the communication network is one of the effective methods to realize the teleoperation of robot systems. The general communication line such as the Internet system is with random transmission delay and data loss on the communication path. These communication failures cause instability of the control system for the bilateral robot system and make it difficult to accurately deliver the skills of the operator to remote locations. When controlling a flexible structure, the above-mentioned effects are prominent, such as the generation of vibration. In this research, we investigated the effects of transmission delays and data loss in control systems for flexible structures. The purpose of this research is to reduce the undesirable effect due to the transmission delay and data loss of the communication network with respect to the control system by introducing a switchable compensator. This compensator determines the presence of data loss and compensates the data loss using the past data in the system was designed. Furthermore, in the numerical simulations, the effectiveness of the proposed system was demonstrated. However, it was found that when the data loss rate increased, the amount of overshoot occurred, and it was found that improvement was necessary.