Time-Delay Compensation by Communication Disturbance Observer for Bilateral Teleoperation Under Time-Varying Delay

Natori, Kenji; Tsuji, Toshiaki; Ohnishi, Kouhei; Hace, A.; Jezernik, K.

doi:10.1109/tie.2009.2028337

Cited by 227 publications

(129 citation statements)

References 32 publications

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“…In this section, some defects of the conventional CDOB presented in [15,17] are analyzed. By applying the first-order CDOB to the teleoperation system in Figure 3, the estimated network disturbance is used for time delay compensation and thus the feedback signal to the master is not delayed anymore.…”

Section: Effect Of Model Uncertainty and Disturbance On The Conventiomentioning

confidence: 99%

Design and implementation of a modified communication disturbance observer for teleoperation systems

Zeinaly¹,

Ramezani²,

Ozgoli³

2017

Turk J Elec Eng & Comp Sci

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Abstract:In this paper, a novel structure for a communication disturbance observer in teleoperation systems is proposed to achieve robust stability. A time delay compensation method based on the concept of network disturbance and a communication disturbance observer (CDOB) has been proposed in past research. Unlike model-based approaches, it works without a time delay model. Therefore, it can be implemented in teleoperation systems with unknown and timevarying delay. However, it has been observed that the system model errors and external disturbances seriously affect the steady-state characteristics. Hence, in this paper, to achieve robustness against disturbance and model uncertainty, the structure of the conventional CDOB is modified and a new structure for the CDOB in teleoperation systems is proposed, which uses the slave's delayed torque instead of its delayed position for time delay compensation. The desired transient response characteristic is achieved by designing the controller parameters. The time delay in the communication channel has been simulated by PCs in past studies, but in this paper, by implementing the communication channel through the TCP/IP protocol in the experimental setup, the effectiveness of the proposed structure is studied in the presence of real time delay and compared with the Smith predictor, the conventional CDOB, and other structures of CDOBs.

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Section: Effect Of Model Uncertainty and Disturbance On The Conventiomentioning

confidence: 99%

Design and implementation of a modified communication disturbance observer for teleoperation systems

Zeinaly¹,

Ramezani²,

Ozgoli³

2017

Turk J Elec Eng & Comp Sci

View full text Add to dashboard Cite

show abstract

“…Here, n γ is the order of the denominator polynomial. Thus, the number of dependent poles n q is determined by (16).…”

Section: Design Of Feedback Controller With Considering Time Delaymentioning

confidence: 99%

“…The communication disturbance observer (CDOB) is the useful method to compensate for the influence of an unknown time delay (14)- (16) . The prediction method has been applied to the feedback controller to consider the time delay (19) .…”

Section: Introductionmentioning

confidence: 99%

Full FPGA Tracking Control System Based on Error-Based Communication Disturbance Observer Considering Time Delay for Optical Disc System

et al. 2017

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Currently, a high-precision tracking control system is required for a large-capacity optical disc drive system. This paper proposes a new full field-programmable gate array (FPGA) tracking control system based on an error-based communication disturbance observer (ECDOB) considering the time delay of an optical disc drive system. The FPGA control system may have a large influence on both the integer time delay and the non-integer time delay of the control system. In order to consider the time delay, this study reconstructs the feedback control system by using the limited pole placement method. Moreover, this paper proposes a new ECDOB. The experimental and numerical simulation results confirm that the tracking performance of the proposed system is better than that of a conventional feedback control system. In full FPGA tracking control of optical disc systems, the proposed ECDOB-based tracking controller exhibits good performance.

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“…The communication disturbance observer (CDOB) has been proposed to compensate time delay effect without a time delay model (9) . The effectiveness of time delay compensation by CDOB to acceleration based four-channel bilateral control system is confirmed experimentally so far.…”

Section: Introductionmentioning

confidence: 99%

A Two Flow Expression Method of Four-Channel Bilateral Control System with Time Delay and Validation of Model-Free Time Delay Compensator

Hyodo

Ohnishi

2015

IEEJ Journal IA

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Bilateral control is one of the control methods for teleoperation system. The presence of network delays between a master robot and a slave robot makes the design of bilateral control system challengeable. It seriously deteriorates the performance and possibly makes the system unstable. In this paper, to overcome the destabilization from network delay, the model-free time delay compensator is proposed. The proposed compensator does not utilize time delay model and plant model, but the bilateral control system is stabilized. The stability of the proposed control system is shown by using two flow expression method. Two flow expression method models the master system and the slave system of four-channel bilateral control system as single input and single output system. This method makes the analysis for the stability and the performance of the four-channel bilateral control system simple. The validity of the proposed model-free time delay compensator is confirmed by numerical and experimental results.

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Time-Delay Compensation by Communication Disturbance Observer for Bilateral Teleoperation Under Time-Varying Delay

Cited by 227 publications

References 32 publications

Design and implementation of a modified communication disturbance observer for teleoperation systems

Design and implementation of a modified communication disturbance observer for teleoperation systems

Full FPGA Tracking Control System Based on Error-Based Communication Disturbance Observer Considering Time Delay for Optical Disc System

A Two Flow Expression Method of Four-Channel Bilateral Control System with Time Delay and Validation of Model-Free Time Delay Compensator

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