Teleoperation Systems Design Using Augmented Wave - Variables and Smith Predictor Method for Reducing Time - Delay Effects
نویسندگان
چکیده
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 in teleoperation systems. By the proposed method, wave variables method is combined with Smith predictor. The simulation result is presented and it is shown that the new approach provides good performance compared with wave variables technique.
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