書誌事項
- タイトル別名
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- L2-Stable Bilateral Control System with Time-Varying Communication Delay
- ヘンドウ ツウシン チエン オ トモナウ L2 アンテイ ナ バイラテラル セイギョケイ
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抄録
Passivity theory is a very useful tool for the stability analysis of bilateral teleoperation with communication delay. Many researchers use passivity-based stabilization method such as those based on scattering theory or wave variables. However, passivity-based stabilization is too conservative for the design of a high-performance teleoperation system. The term “high-performance” implies that people who operate this system can experience a highly accurate reaction force from environments. In this study, we analyze the L2-stability of some bilateral control systems with time-varying communication delay by using the small-gain theorem. The small-gain theorem is known to be a stability condition for multi-input multi-output feedback systems. Additionally, a novel control structure for the bilateral control system with communication delay is proposed. The bilateral control system with the proposed structure satisfies the L2-stability condition of the small-gain theorem. The experimental results show the utility of the proposed control structure.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 129 (7), 674-681, 2009
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679636650880
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- NII論文ID
- 10025102093
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 10356986
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
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- 抄録ライセンスフラグ
- 使用不可