Control for motion synchronization of bilateral teleoperation systems with mode-dependent time-varying communication delays

2010 ◽  
Author(s):  
Zhijun Li ◽  
Yu Kang ◽  
Weike Shang ◽  
Lei Dai
Keyword(s):  
Time Varying ◽  
Communication Delays ◽  
Bilateral Teleoperation ◽  
Teleoperation Systems ◽  
Motion Synchronization

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.

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