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
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U2 - 10.1541/ieejias.129.353
DO - 10.1541/ieejias.129.353
M3 - Article
AN - SCOPUS:67650503601
SN - 0913-6339
VL - 129
SP - 353
EP - 362
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
IS - 4
ER -