Time Delay Compensation in Bilateral Teleoperation Systems
Time Delay Compensation in Bilateral Teleoperation Systems
复制标题
双边遥操作系统中的时延补偿
DOI：
10.1109/icmech.2006.252594
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Kouhei Ohnishi
中科院分区：
文献类型：
--
作者：
K. Natori;Kouhei Ohnishi
时延是双向遥操作系统中不可避免的严重问题。它可能会破坏系统的稳定性，降低系统的性能。迄今为止，已有许多关于双边遥操作系统时延的研究。在这种情况下，作者提出了一种基于网络扰动（ND）和通信扰动观测器（CDOB）概念的时延补偿方法。它可以稳定时滞双边系统。由于该方法不需要建立时延模型，因此适用于Internet等时变或波动时延的情况。本文提出了一种新的考虑ND极点近似的CDOB低通滤波器截止频率设计方法（或条件）。仿真结果验证了所提设计方法（或条件）的有效性
Time delay in bilateral teleoperation systems is inevitable and very serious problem. It possibly destabilize systems and deteriorates the performance of systems. Many researches about time delay in bilateral teleoperation systems have been proposed so far. In such a situation, authors have proposed a time delay compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB). It can stabilize time delayed bilateral systems. Furthermore since the method does not need delay time model, it is applicable to the case with time-varying or fluctuant time delay like that of Internet. In this paper, a new design method (or condition) of cutoff frequency of low pass filter (LPF) in CDOB considering approximated poles of ND is proposed. The validity of proposed design method (or condition) is verified by simulation results