Transparency of centralized controller based bilateral control

This paper analyzes the transparency of a centralized controller based bilateral control system with communication delay. Some previous researches show validity of the centralized controller by experiments. However, the effectiveness has not proved mathematically. Therefore, this paper compares transparency of three kinds of bilateral controllers: the four-channel controller, the three-channel controller, and the centralized controller. In addition, the relation between transparency and the location of the centralized controller is also discussed. Analytical results denote that the highest transparency is given when the centralized controller is located on the center of the network topology. Some experiments also show the validity of the centralized controller.