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  • Time-Delay compensation by communication disturbance observer for bilateral teleoperation under time-varying Delay
    Natori, Kenji ...
    This paper presents the effectiveness of a time-delay compensation method based on the concept of network disturbance and communication disturbance observer for bilateral teleoperation systems under ... time-varying delay. The most efficient feature of the compensation method is that it works without time-delay models (model-based time-delay compensation approaches like Smith predictor usually need time-delay models). Therefore, the method is expected to be widely applied to network-based control systems, in which time delay is usually unknown and time varying. In this paper, the validity of the time-delay compensation method in the cases of both constant delay and time-varying delay is verified by experimental results compared with Smith predictor.
    Source: IEEE transactions on industrial electronics. - ISSN 0278-0046 (Vol. 57, no. 3, Mar. 2010, str. 1050-1062)
    Type of material - article, component part
    Publish date - 2010
    Language - english
    COBISS.SI-ID - 13876246
    DOI

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