Delay Compensation for Teleoperation Systems Based on Communication Disturbance Observers-Reference-Cited by-同舟云学术

Delay Compensation for Teleoperation Systems Based on Communication Disturbance Observers

Published:2016-12-20 Issue:7 Volume:20 Page:1044-1050
ISSN:1883-8014
Container-title:Journal of Advanced Computational Intelligence and Intelligent Informatics
language:en
Short-container-title:JACIII

Author:

Zhang Wen-An, ,Jin Junkai,Qiu Xiang,Yu Li

Abstract

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.

Publisher

Fuji Technology Press Ltd.

Subject

Artificial Intelligence,Computer Vision and Pattern Recognition,Human-Computer Interaction

Reference15 articles.

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