[article] 
inIEEE transactions on industrial electronics > Vol. 57 N° 3 (Mars 2010) . - pp. 1050 - 1062

Titre :	Time-delay compensation by communication disturbance observer for bilateral teleoperation under time-varying delay
Type de document :	texte imprimé
Auteurs :	Natori, Kenji, Auteur ; Tsuji, Toshiaki, Auteur ; Kouhei Ohnishi, Auteur
Article en page(s) :	pp. 1050 - 1062
Note générale :	Génie électrique
Langues :	Anglais (eng)
Mots-clés :	Bilateral teleoperation Communication disturbance observer (CDOB) Network (ND) Network-based control systems (NBCSs) Smith predictor Time delay
Index. décimale :	621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X
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

[article] Time-delay compensation by communication disturbance observer for bilateral teleoperation under time-varying delay [texte imprimé] / Natori, Kenji, Auteur ; Tsuji, Toshiaki, Auteur ; Kouhei Ohnishi, Auteur . - pp. 1050 - 1062.
Génie électrique
Langues : Anglais (eng)
in IEEE transactions on industrial electronics > Vol. 57 N° 3 (Mars 2010) . - pp. 1050 - 1062

Mots-clés :	Bilateral teleoperation Communication disturbance observer (CDOB) Network (ND) Network-based control systems (NBCSs) Smith predictor Time delay
Index. décimale :	621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X
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