Abstract
This paper presents the effectiveness of a time-delay compensation method based on the concept of network disturbance and communication disturbance observer for bilateral teleoperation systems under time-varying delay. The most efficient feature of the compensation method is that it works without time-delay models (model-based time-delay compensation approaches like Smith predictor usually need time-delay models). Therefore, the method is expected to be widely applied to network-based control systems, in which time delay is usually unknown and time varying. In this paper, the validity of the time-delay compensation method in the cases of both constant delay and time-varying delay is verified by experimental results compared with Smith predictor.
| Original language | English |
|---|---|
| Article number | 5196767 |
| Pages (from-to) | 1050-1062 |
| Number of pages | 13 |
| Journal | IEEE Transactions on Industrial Electronics |
| Volume | 57 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 2010 Mar |
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Keywords
- Bilateral teleoperation
- Communication disturbance observer (CDOB)
- Network disturbance (ND)
- Networkbased control systems (NBCSs)
- Smith predictor, time delay
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Time-delay compensation by communication disturbance observer for bilateral teleoperation under time-varying delay. / Natori, Kenji; Tsuji, Toshiaki; Ohnishi, Kouhei; Hace, Aleš; Jezernik, Karel.
In: IEEE Transactions on Industrial Electronics, Vol. 57, No. 3, 5196767, 03.2010, p. 1050-1062.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Time-delay compensation by communication disturbance observer for bilateral teleoperation under time-varying delay
AU - Natori, Kenji
AU - Tsuji, Toshiaki
AU - Ohnishi, Kouhei
AU - Hace, Aleš
AU - Jezernik, Karel
PY - 2010/3
Y1 - 2010/3
N2 - This paper presents the effectiveness of a time-delay compensation method based on the concept of network disturbance and communication disturbance observer for bilateral teleoperation systems under time-varying delay. The most efficient feature of the compensation method is that it works without time-delay models (model-based time-delay compensation approaches like Smith predictor usually need time-delay models). Therefore, the method is expected to be widely applied to network-based control systems, in which time delay is usually unknown and time varying. In this paper, the validity of the time-delay compensation method in the cases of both constant delay and time-varying delay is verified by experimental results compared with Smith predictor.
AB - This paper presents the effectiveness of a time-delay compensation method based on the concept of network disturbance and communication disturbance observer for bilateral teleoperation systems under time-varying delay. The most efficient feature of the compensation method is that it works without time-delay models (model-based time-delay compensation approaches like Smith predictor usually need time-delay models). Therefore, the method is expected to be widely applied to network-based control systems, in which time delay is usually unknown and time varying. In this paper, the validity of the time-delay compensation method in the cases of both constant delay and time-varying delay is verified by experimental results compared with Smith predictor.
KW - Bilateral teleoperation
KW - Communication disturbance observer (CDOB)
KW - Network disturbance (ND)
KW - Networkbased control systems (NBCSs)
KW - Smith predictor, time delay
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UR - http://www.scopus.com/inward/citedby.url?scp=76849093848&partnerID=8YFLogxK
U2 - 10.1109/TIE.2009.2028337
DO - 10.1109/TIE.2009.2028337
M3 - Article
VL - 57
SP - 1050
EP - 1062
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 3
M1 - 5196767
ER -