Time-delay compensation by communication disturbance observers of different orders in bilateral teleoperation systems

Kenji Natori, Ryogo Kubo, Tomoyuki Shimono, Kouhei Ohnishi, Kanako Miura, Hirotaka Furukawa, Minora Takahata

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

This paper describes the validation of time-delay compensation by communication disturbance observers (CDOBs) of different orders in bilateral teleoperation systems. A time-delay compensation method based on the concept of network disturbance (ND) and CDOB is novel and is as effective as the Smith predictor. Furthermore, the method can be used even when the value of delay time is not available, since the method does not employ delay-time model. Therefore, it is expected that the method can be used in the case of time-varying delays such as delays over the Internet. However, time-delay compensation in the case of time-varying delays has not been sufficiently verified yet. In this study, we compare the time-delay compensation by CDOBs of different orders. The experimental results pertaining to both constant and time-varying delays are shown to compare the time-delay compensation by CDOBs of different orders.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume129
Issue number4
DOIs
Publication statusPublished - 2009

Fingerprint

Remote control
Time delay
Communication
Compensation and Redress
Internet

Keywords

  • Bilateral teleoperation system
  • Communication disturbance observer (CDOB)
  • Network disturbance (ND)
  • Time-varying delay

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Time-delay compensation by communication disturbance observers of different orders in bilateral teleoperation systems. / Natori, Kenji; Kubo, Ryogo; Shimono, Tomoyuki; Ohnishi, Kouhei; Miura, Kanako; Furukawa, Hirotaka; Takahata, Minora.

In: IEEJ Transactions on Industry Applications, Vol. 129, No. 4, 2009.

Research output: Contribution to journalArticle

Natori, Kenji ; Kubo, Ryogo ; Shimono, Tomoyuki ; Ohnishi, Kouhei ; Miura, Kanako ; Furukawa, Hirotaka ; Takahata, Minora. / Time-delay compensation by communication disturbance observers of different orders in bilateral teleoperation systems. In: IEEJ Transactions on Industry Applications. 2009 ; Vol. 129, No. 4.
@article{5079e89d07c34effa85736c1fa7d7ab1,
title = "Time-delay compensation by communication disturbance observers of different orders in bilateral teleoperation systems",
abstract = "This paper describes the validation of time-delay compensation by communication disturbance observers (CDOBs) of different orders in bilateral teleoperation systems. A time-delay compensation method based on the concept of network disturbance (ND) and CDOB is novel and is as effective as the Smith predictor. Furthermore, the method can be used even when the value of delay time is not available, since the method does not employ delay-time model. Therefore, it is expected that the method can be used in the case of time-varying delays such as delays over the Internet. However, time-delay compensation in the case of time-varying delays has not been sufficiently verified yet. In this study, we compare the time-delay compensation by CDOBs of different orders. The experimental results pertaining to both constant and time-varying delays are shown to compare the time-delay compensation by CDOBs of different orders.",
keywords = "Bilateral teleoperation system, Communication disturbance observer (CDOB), Network disturbance (ND), Time-varying delay",
author = "Kenji Natori and Ryogo Kubo and Tomoyuki Shimono and Kouhei Ohnishi and Kanako Miura and Hirotaka Furukawa and Minora Takahata",
year = "2009",
doi = "10.1541/ieejias.129.353",
language = "English",
volume = "129",
journal = "IEEJ Transactions on Industry Applications",
issn = "0913-6339",
publisher = "The Institute of Electrical Engineers of Japan",
number = "4",

}

TY - JOUR

T1 - Time-delay compensation by communication disturbance observers of different orders in bilateral teleoperation systems

AU - Natori, Kenji

AU - Kubo, Ryogo

AU - Shimono, Tomoyuki

AU - Ohnishi, Kouhei

AU - Miura, Kanako

AU - Furukawa, Hirotaka

AU - Takahata, Minora

PY - 2009

Y1 - 2009

N2 - This paper describes the validation of time-delay compensation by communication disturbance observers (CDOBs) of different orders in bilateral teleoperation systems. A time-delay compensation method based on the concept of network disturbance (ND) and CDOB is novel and is as effective as the Smith predictor. Furthermore, the method can be used even when the value of delay time is not available, since the method does not employ delay-time model. Therefore, it is expected that the method can be used in the case of time-varying delays such as delays over the Internet. However, time-delay compensation in the case of time-varying delays has not been sufficiently verified yet. In this study, we compare the time-delay compensation by CDOBs of different orders. The experimental results pertaining to both constant and time-varying delays are shown to compare the time-delay compensation by CDOBs of different orders.

AB - This paper describes the validation of time-delay compensation by communication disturbance observers (CDOBs) of different orders in bilateral teleoperation systems. A time-delay compensation method based on the concept of network disturbance (ND) and CDOB is novel and is as effective as the Smith predictor. Furthermore, the method can be used even when the value of delay time is not available, since the method does not employ delay-time model. Therefore, it is expected that the method can be used in the case of time-varying delays such as delays over the Internet. However, time-delay compensation in the case of time-varying delays has not been sufficiently verified yet. In this study, we compare the time-delay compensation by CDOBs of different orders. The experimental results pertaining to both constant and time-varying delays are shown to compare the time-delay compensation by CDOBs of different orders.

KW - Bilateral teleoperation system

KW - Communication disturbance observer (CDOB)

KW - Network disturbance (ND)

KW - Time-varying delay

UR - http://www.scopus.com/inward/record.url?scp=67650503601&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=67650503601&partnerID=8YFLogxK

U2 - 10.1541/ieejias.129.353

DO - 10.1541/ieejias.129.353

M3 - Article

AN - SCOPUS:67650503601

VL - 129

JO - IEEJ Transactions on Industry Applications

JF - IEEJ Transactions on Industry Applications

SN - 0913-6339

IS - 4

ER -