Time-delay compensation by communication disturbance observer for bilateral teleoperation under time-varying delay / Natori, Kenji in IEEE transactions on industrial electronics, Vol. 57 N° 3 (Mars 2010)  

Public ISBD [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

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