Delay compensation for Teleoperation systems based on communication disturbance observers

被引：0
|
作者：
Zhang W.-A. [1 ]
Jin J. [1 ]
Qiu X. [1 ]
Yu L. [1 ]
机构：
[1] College of Information Engineering, Zhejiang University of Technology, Hangzhou
来源：
| 1600年 / Fuji Technology Press卷 / 20期
关键词：
Active Disturbance Rejection Control (ADRC); Communication Disturbance Observer (CDOB); Manipulator; Teleoperation; Time Delay;
D O I：
10.20965/jaciii.2016.p1044
中图分类号：
学科分类号：
摘要：
This paper investigates the control problem for a class of teleoperation systems with communication delays. The network-induced delays are usually inevitable in teleoperation systems, and may be time varying and unpredictable. Since the conventional Smith predictor is only useful for fixed delays, a novel delay compensation and controller design method is proposed in this paper. The proposed method combines a disturbance rejection controller and a communication disturbance observer (CDOB). Simulations are provided to show the effectiveness and superiority of the proposed delay compensation and controller design method.
引用
收藏
页码：1044 / 1050
页数：6
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