In this paper, the new state predictors are proposed to improve the performance of the predictors in predictive controller for teleoperation with time delay. The proposed state predictors are designed based on solution trajectories of the dynamics. The prediction errors of the proposed predictors do not depend on past prediction errors. To achieve nondelayed synchronization, proposed predictors are incorporated to the predictive control structure. Using the Lyapunov stability method, the proposed control structure is shown to be stable even in the presence of time delay. Experimental results show the effectiveness of our proposed teleoperation.
|Title of host publication
|Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - 2008
|47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico
Duration: 2008 Dec 9 → 2008 Dec 11
|Proceedings of the IEEE Conference on Decision and Control
|47th IEEE Conference on Decision and Control, CDC 2008
|08/12/9 → 08/12/11
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Control and Optimization