Time-delay compensation by communication disturbance observer for bilateral teleoperation under time-varying delay

Kenji Natori, Toshiaki Tsuji, Kouhei Ohnishi, Aleš Hace, Karel Jezernik

Research output: Contribution to journalArticle

197 Citations (Scopus)


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 languageEnglish
Article number5196767
Pages (from-to)1050-1062
Number of pages13
JournalIEEE Transactions on Industrial Electronics
Issue number3
Publication statusPublished - 2010 Mar 1



  • 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

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