Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 57, Issue 3, Pages 1050-1062Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2009.2028337
Keywords
Bilateral teleoperation; communication disturbance observer (CDOB); network disturbance (ND); network-based control systems (NBCSs); Smith predictor; time delay
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Funding
- Grants-in-Aid for Scientific Research [20226007] Funding Source: KAKEN
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This paper presents the effectiveness of a time-delay compensation method based on the concept of network disturbance and communication disturbance observer for bilateral tele-operation 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.
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