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D. Yashiro, A. Sabanoviç, K. Ohnishi
2 1. 12. 2009.

Central controller for hybrid control over network

In this paper, a central controller for position/force hybrid control over network is proposed. In the proposed method, the central controller receives position and force information from each plant. Then, the central controller generates acceleration references for each plant by using a hybrid controller and a dead time compensator. As an application, bilateral control with communication delay is implemented. And some simulations and experiments verify the validity of the proposed method.


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