关键词：多边控制系统;邻接矩阵图;最大特征值;系统连接;通信延迟
摘 要：A technology which enables us to share haptic information between remote several systems is required. Multilateral control system is an effective system which can implement the technology. However, haptic information tends to deteriorate under communication delay because haptic information is bilateral. Since multilateral control connects all subsystems to share information, the information is greatly affected by time delay. Selecting the communication link is one way of the solving the problem, however there were no means to know the strength of the link. Therefore, two things are proposed in this paper. Firstly, the index which is named "information volume" to quantify the amount of information that each subsystem has is proposed. This index can be applied to a system which has time delay in communication links. Using the index, the importance of each communication link which includes delay time can be quantified. Secondly, the algorithm to select the communication links is proposed based on the information volume. The target relationship regarding the information volumes is set and the links which are unnecessary are to be removed. The validity of the proposal is confirmed by experiments, and the results show that the degradation of haptic sensation under communication delay is prevented.