Predictive controller design for bilateral teleoperation systems with time varying delays

2004 ◽  
Author(s):  
Ya-Jun Pan ◽  
C. Canudas-de-Wit ◽  
O. Sename
Keyword(s):  
Controller Design ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Predictive Controller ◽  
Teleoperation Systems

Delay Compensation for Teleoperation Systems Based on Communication Disturbance Observers

2016 ◽  
Vol 20 (7) ◽  
pp. 1044-1050
Author(s):  
Wen-An Zhang ◽  
◽  
Junkai Jin ◽  
Xiang Qiu ◽  
Li Yu
Keyword(s):  
Control Problem ◽  
Disturbance Rejection ◽  
Disturbance Observer ◽  
Controller Design ◽  
Design Method ◽  
Smith Predictor ◽  
Time Varying ◽  
Communication Delays ◽  
Delay Compensation ◽  
Teleoperation Systems

This paper investigates the control problem for a class of teleoperation systems with communication delays. The network-induced delays are usually inevitable in teleoperation systems, and may be time varying and unpredictable. Since the conventional Smith predictor is only useful for fixed delays, a novel delay compensation and controller design method is proposed in this paper. The proposed method combines a disturbance rejection controller and a communication disturbance observer (CDOB). Simulations are provided to show the effectiveness and superiority of the proposed delay compensation and controller design method.

Predictive Controller Design and Simulation of Time-Varying System Based on IGPC

2011 ◽  
Vol 291-294 ◽  
pp. 2647-2651
Author(s):  
Qin He Gao ◽  
Wen Liang Guan
Keyword(s):  
Predictive Control ◽  
Controller Design ◽  
Industrial Process ◽  
Model Parameters ◽  
Time Varying ◽  
Controlled System ◽  
System Input ◽  
Predictive Controller ◽  
Industrial Process Control ◽  
Adaptive Abilities

An adaptive predictive controller is proposed to solve the time-varying characteristics of the industrial process control system. The arithmetic of implicit expression generalized predictive control（IGPC） is put forward to compute the optimal control signal increment. In order to decrease the computing work and increase the computing speed, the system input/output data are used to identify the controller parameters directly and the plant model parameters are unnecessary. Simulation results show that the controller can track the change of setting value excellently even though without any prior information of controlled system, and have excellent adaptive abilities for the changes of system external disturbing signals and model parameters.

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