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

Paper:

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

Received:
July 5, 2016
Accepted:
August 14, 2016
Published:
December 20, 2016
Keywords:
teleoperation, manipulator, time delay, active disturbance rejection control (ADRC), communication disturbance observer (CDOB)
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.

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Last updated on Aug. 19, 2017