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Motion Synchronization for Bilateral Control Systems

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New Technologies, Development and Application VI (NT 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 687))

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Abstract

This paper describes motion synchronization as essential problem in bilateral control systems. The proposed motion synchronization method is defined as a constrained motion in which generalized control errors are function of position and velocity of synchronized systems. Transformation from operation to configuration space is applied to define the generalized error such that it constraints the output of closed loop system by desired dynamics. Local controllers are implemented to ensure the stability of the system and enforce desired convergence rate with short time response. The obtained results prove fast response and fully synchronized motion control. The application of the proposed system is described in detail and evaluated by simulation and experiments. The experimental results will serve as a basis for the next stage of research, which is Cyber Physical Systems and teleoperations.

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Ackonwledgement

This work is partially supported by Ministry of Science, High Education and Youth, Sarajevo, Bosnia and Herzegovina. Project number 22 on the following link: https://mon.ks.gov.ba/sites/mon.ks.gov.ba/files/2022-08/Odluka%20o%20utvr%C4%91ivanju%20kona%C4%8Dne%20liste%20dobitnika%20sredstava_Program%20B.1.pdf.

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Authors and Affiliations

  1. Electrical and Electronics Engineering, International University of Sarajevo, Hrasnička Cesta 15, 71 000, Sarajevo, Bosnia and Herzegovina

    Šejla Džakmić, Nađa Viteškić, Amel Ramdedović & Mohammad Adnan Diab Alrefaee

Authors
  1. Šejla Džakmić
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  2. Nađa Viteškić
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  3. Amel Ramdedović
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  4. Mohammad Adnan Diab Alrefaee
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Corresponding author

Correspondence to Šejla Džakmić .

Editor information

Editors and Affiliations

  1. Academy of Sciences and Arts of Bosnia and Herzegovina, Sarajevo, Bosnia and Herzegovina

    Isak Karabegovic

  2. City University of London, London, UK

    Ahmed Kovačević

  3. Faculty of Traffic and Transport Sciences, University of Zagreb, Zagreb, Croatia

    Sadko Mandzuka

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© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG

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Džakmić, Š., Viteškić, N., Ramdedović, A., Alrefaee, M.A.D. (2023). Motion Synchronization for Bilateral Control Systems. In: Karabegovic, I., Kovačević, A., Mandzuka, S. (eds) New Technologies, Development and Application VI. NT 2023. Lecture Notes in Networks and Systems, vol 687. Springer, Cham. https://doi.org/10.1007/978-3-031-31066-9_57

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