Bilateral control for stochastic flexible master-slave system maintain high quality under random packet loss and delay due to unreliable network
Toshiyuki Nagata, Yuichi Sawada · SICE Journal of Control Measurement and System Integration · 2026
Random packet losses and transmission delays during data transfer for bilateral control systems can cause serious problems such that the slave device cannot perform the desired operation, and the operator cannot take the status of the slave side via the master device. This paper is focused on bilateral control using flexible structures as slave devices, and presented a method of not only disturbance removal, but also the estimation and data compensation that takes into account random packet losses and transmission delays by using a Kalman filter algorithm. Moreover, numerical simulations show that the proposed method can handle continuous operation with a 50% packet loss rate.