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

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

研究成果: Article査読

226 被引用数 (Scopus)

抄録

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.

本文言語English
論文番号5196767
ページ(範囲)1050-1062
ページ数13
ジャーナルIEEE Transactions on Industrial Electronics
57
3
DOI
出版ステータスPublished - 2010 3月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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