IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
Paper
Time-Delay Compensation by Communication Disturbance Observers of Different Orders in Bilateral Teleoperation Systems
Kenji NatoriRyogo KuboTomoyuki ShimonoKouhei OhnishiKanako MiuraHirotaka FurukawaMinoru Takahata
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2009 Volume 129 Issue 4 Pages 353-362

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Abstract
This paper describes the validation of time-delay compensation by communication disturbance observers (CDOBs) of different orders in bilateral teleoperation systems. A time-delay compensation method based on the concept of network disturbance (ND) and CDOB is novel and is as effective as the Smith predictor. Furthermore, the method can be used even when the value of delay time is not available, since the method does not employ delay-time model. Therefore, it is expected that the method can be used in the case of time-varying delays such as delays over the Internet. However, time-delay compensation in the case of time-varying delays has not been sufficiently verified yet. In this study, we compare the time-delay compensation by CDOBs of different orders. The experimental results pertaining to both constant and time-varying delays are shown to compare the time-delay compensation by CDOBs of different orders.
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© 2009 by the Institute of Electrical Engineers of Japan
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