Teleoperation Control of an Internet-based Robot with Varying Time Delay

摘要

The varying time delay in communication channels of the internet-based robot control system usually leads to instability and bad performance of the system.In order to eliminate or reduce the effect of time delay,an improved Smith predictor to tackle this problem is presented.An RBF (radial basis function) neural network is employed to estimate the time delay of the signal transmission over the Internet.Based on the principle of the Smith predictor,two improved control systems with one Smith predictor and two Smith predictors are respectively presented to deal with the varying time delay.Theoretical analysis and simulation results show that the improved Smith predictor can compensate the varying time delay and ensure the stability and performance.