| Titre : | Time-delay compensation by communication disturbance observer for bilateral teleoperation under time-varying delay |
| Auteurs : | Natori, Kenji, Auteur ; Tsuji, Toshiaki, Auteur ; Kouhei Ohnishi, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | IEEE transactions on industrial electronics (Vol. 57 N° 3, Mars 2010) |
| Article en page(s) : | pp. 1050 - 1062 |
| Note générale : | Génie électrique |
| Langues : | Anglais |
| Index. décimale : | 621.38 (Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X) |
| Tags : | Bilateral teleoperation Communication disturbance observer (CDOB) Network (ND) Network-based control systems (NBCSs) Smith predictor Time delay |
| Résumé : | 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. |
| DEWEY : | 621.38 |
| ISSN : | 0278-0046 |
| En ligne : | http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5196767 |
