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First Internet based teleoperation system structure and time delay is described. And then two network delay regulators are added to eliminate delay jittering and disturbance. At last two compensators are designed based on dynamic matrix control algorithm. Simulation results have shown that the new control scheme can improve dynamic performance of the system and maintain the stability of the control...
Nowadays, teleoperation has a wide variety of applications. For example in a bilateral teleoperation system, a human can control a robot or a system which is far away from each other. One of the major problems faced in a bilateral teleoperation system is the time delay due to the transmission of data between the master and the slave sides. If the controller is not properly designed, the delay degrades...
Variational time delays and data losing phenomenon degrade performance of Internet based teleoperation system seriously, even make the system unstable. To overcome the trouble under known environment, an idea that using master state, predicted slave state and contact force between the slave and environment design local state feedback controller was used. First of all, state space model of the system...
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