Robust bilateral control with internet communication

Kenji Natori, Toshiaki Tsuji, Kouhei Ohnishi, Aleš Hace, Karel Jezernik

研究成果: Paper査読

81 被引用数 (Scopus)


Smith Predictor is a well-known method for compensating time delay in control systems. Therefore, it has been applied to many systems with time delay so far. However, delay time should be estimated precisely in this method. So, if time delay is fluctuant and unpredictable, like the communication delay over the Internet, performance of Smith Predictor deteriorates. This paper proposes "Communication Disturbance Observer". It regards the error caused by time delay as disturbance torque (or acceleration), then it can observe and compensate the error. Furthermore, it doesn't need to estimate the value of delay time; therefore it can be applied to control systems with fluctuant and unpredictable time delay. It can be said that control system with "Communication Disturbance Observer" is robust to time delay and fluctuation of that. Effectiveness and robustness of proposed method is shown by result of simulation and experiment. In experiment, master-slave manipulator was used over the Internet. We were able to get the sense of touch from the environment of remote site.

出版ステータスPublished - 2004
イベントIECON 2004 - 30th Annual Conference of IEEE Industrial Electronics Society - Busan, Korea, Republic of
継続期間: 2004 11月 22004 11月 6


OtherIECON 2004 - 30th Annual Conference of IEEE Industrial Electronics Society
国/地域Korea, Republic of

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学


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