Generalized Design of Position-Based Bilateral Control Parameterized by Complementary Sensitivity Function

This paper proposes a generalized two-channel position-based bilateral controller architecture parameterized with a complementary sensitivity function. With this theoretical framework, we formalize a control architecture that simplifies and extends the controllers commonly employed in industrial applications. Furthermore, we propose a control architecture that divides the transfer matrices to allow multiple sensors for feedback controllers. This method allows us to use sensors such as encoders and accelerometers to enhance disturbance suppression performance while minimizing input oscillations small.