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 |
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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 |
Keywords
- Bilateral teleoperation
- Communication disturbance observer (CDOB)
- Network disturbance (ND)
- Networkbased control systems (NBCSs)
- Smith predictor, time delay
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering