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Time-Delay Compensation by Communication Disturbance Observer for Bilateral Teleoperation Under Time-Varying Delay

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5 Author(s)
Natori, K. ; Dept. of Electr. Eng. & Electron., Aoyama Gakuin Univ., Sagamihara, Japan ; Tsuji, T. ; Ohnishi, K. ; Hace, A.
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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 teleoperation 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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Industrial Electronics, IEEE Transactions on  (Volume:57 ,  Issue: 3 )