A Bilateral Teleoperation Architecture using Smith Predictor and Adaptive Network Buffering
نویسندگان
چکیده
منابع مشابه
Adaptive Digital Smith Predictor
Abtract: Time-delays (dead times) are found in many processes in industry. Time-delays are mainly caused by the time required to transport mass, energy or information, but they can also be caused by processing time or accumulation. The contribution is focused on a design of algorithms for adaptive digital control for processes with time-delay. The algorithm is based on pole assignment approach....
متن کاملteleoperation systems control using augmented wave variables and smith predictor methods by prediction of delay time
in this paper, behavior of teleoperation systems with modeling error and delay time error in smith predictor is discussed. in teleoperation systems, modeling error is inevitable. this paper discusses stability of teleoperation systems with modeling error. first, error of delay time in teleoperation systems by using of internet as communication channel is considered and the performance of smith ...
متن کاملSmith Predictor Type Control Architectures for Time Delayed Teleoperation
An early control methodology for time delayed plants is the Smith predictor, in which the plant model is utilized to predict the nondelayed output of the plant and move the delay out of the control loop. Recent Smith predictor based teleoperation control architectures have used linear or fixed-parameter dynamic approximations of the slave/environment at the master for environment contact predic...
متن کاملTeleoperation Systems Design Using Augmented Wave - Variables and Smith Predictor Method for Reducing Time - Delay Effects
The performance of a wave-based teleoperator is heavily dependent on the amount of time delay present in the system. Although wave variables provide a very promising method to establish teleoperation in the presence of any time delay, tracking error in a wave-based teleoperator will be increased by increasing time delay. In this paper, we introduce a new method for reducing time delay effects i...
متن کاملAn adaptive predictor for media playout buffering
Receiver playout buffers are required to smooth network delay variations for multimedia streams. Playout buffer algorithms such as those commonly used in the Internet, autoregressively measure the network delay and variation and adjust the buffer delay accordingly, to avoid packets arriving too late. In this work, we attempt to adjust the buffer delay based on a prediction of the network delay ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2017
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2017.08.1806