A design method of wave filter for stabilizing non-passive operating system

Takanori Miyoshi; Kazuhiko Terasima; Martin Buss

doi:10.1109/CCA.2006.286029

A design method of wave filter for stabilizing non-passive operating system

Takanori Miyoshi
, Kazuhiko Terasima
, Martin Buss

Chair of Automatic Control Engineering

Toyohashi University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

21 Scopus citations

Abstract

In this paper, the force-position haptic teleoperating system is proposed. Although a force-position system is generally non-passive, stability is ensured by the wave filters to suppress the H_∞ norm of the loop gain to less than 1. In this system, accurate positioning and transparency are achieved in the static state. It was also proven that the viscosity of the system increases in accordance with time-day and the step response of the wave filters. The advantage of our proposed method is demonstrated by an experiment of teleoperation between Munich and Toyohashi via the Internet with significant packet losses. Furthermore, the validity of our model is also shown by the simulation.

Original language	English
Title of host publication	Proceedings of the 2006 IEEE International Conference on Control Applications
Pages	1318-1324
Number of pages	7
DOIs	https://doi.org/10.1109/CCA.2006.286029
State	Published - 2007
Event	Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC) - Munich, Germany Duration: 4 Oct 2006 → 6 Oct 2006

Publication series

Name	Proceedings of the IEEE International Conference on Control Applications

Conference

Conference	Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC)
Country/Territory	Germany
City	Munich
Period	4/10/06 → 6/10/06

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10.1109/CCA.2006.286029

Cite this

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title = "A design method of wave filter for stabilizing non-passive operating system",

abstract = "In this paper, the force-position haptic teleoperating system is proposed. Although a force-position system is generally non-passive, stability is ensured by the wave filters to suppress the H∞ norm of the loop gain to less than 1. In this system, accurate positioning and transparency are achieved in the static state. It was also proven that the viscosity of the system increases in accordance with time-day and the step response of the wave filters. The advantage of our proposed method is demonstrated by an experiment of teleoperation between Munich and Toyohashi via the Internet with significant packet losses. Furthermore, the validity of our model is also shown by the simulation.",

author = "Takanori Miyoshi and Kazuhiko Terasima and Martin Buss",

year = "2007",

doi = "10.1109/CCA.2006.286029",

language = "English",

isbn = "0780397959",

series = "Proceedings of the IEEE International Conference on Control Applications",

pages = "1318--1324",

booktitle = "Proceedings of the 2006 IEEE International Conference on Control Applications",

note = "Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC) ; Conference date: 04-10-2006 Through 06-10-2006",

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Miyoshi, T, Terasima, K & Buss, M 2007, A design method of wave filter for stabilizing non-passive operating system. in Proceedings of the 2006 IEEE International Conference on Control Applications., 4067370, Proceedings of the IEEE International Conference on Control Applications, pp. 1318-1324, Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC), Munich, Germany, 4/10/06. https://doi.org/10.1109/CCA.2006.286029

A design method of wave filter for stabilizing non-passive operating system. / Miyoshi, Takanori; Terasima, Kazuhiko; Buss, Martin.
Proceedings of the 2006 IEEE International Conference on Control Applications. 2007. p. 1318-1324 4067370 (Proceedings of the IEEE International Conference on Control Applications).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Terasima, Kazuhiko

AU - Buss, Martin

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N2 - In this paper, the force-position haptic teleoperating system is proposed. Although a force-position system is generally non-passive, stability is ensured by the wave filters to suppress the H∞ norm of the loop gain to less than 1. In this system, accurate positioning and transparency are achieved in the static state. It was also proven that the viscosity of the system increases in accordance with time-day and the step response of the wave filters. The advantage of our proposed method is demonstrated by an experiment of teleoperation between Munich and Toyohashi via the Internet with significant packet losses. Furthermore, the validity of our model is also shown by the simulation.

AB - In this paper, the force-position haptic teleoperating system is proposed. Although a force-position system is generally non-passive, stability is ensured by the wave filters to suppress the H∞ norm of the loop gain to less than 1. In this system, accurate positioning and transparency are achieved in the static state. It was also proven that the viscosity of the system increases in accordance with time-day and the step response of the wave filters. The advantage of our proposed method is demonstrated by an experiment of teleoperation between Munich and Toyohashi via the Internet with significant packet losses. Furthermore, the validity of our model is also shown by the simulation.

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M3 - Conference contribution

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BT - Proceedings of the 2006 IEEE International Conference on Control Applications

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Y2 - 4 October 2006 through 6 October 2006

ER -

A design method of wave filter for stabilizing non-passive operating system

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