JACIII Vol.20 No.7 pp. 1044-1050
doi: 10.20965/jaciii.2016.p1044


Delay Compensation for Teleoperation Systems Based on Communication Disturbance Observers

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

College of Information Engineering, Zhejiang University of Technology
Hangzhou 310023, China

July 5, 2016
August 14, 2016
December 20, 2016
teleoperation, manipulator, time delay, active disturbance rejection control (ADRC), communication disturbance observer (CDOB)

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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Last updated on Aug. 19, 2017