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During the control of teleoperation via Internet, an operator cannot obtain the real-time data in a timely and accurate fashion. This is due to the uncertain time delays, which are unavoidable in the Internet-based communication and cause instability and poor system performance. This paper deals with the modelling and control of Internet-based teleoperation systems using the hybrid dynamic system approach. A supervisory controller is implemented to overcome the uncertain time delays. This method provides an efficient way to model the concurrence and complexity of the Internet-based robotic teleoperation.
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th (Volume:1 )
Date of Conference: 6-9 Dec. 2004