Modeling internet delay dynamics for teleoperation

We propose a novel approach for modeling the end-to-end time-delay dynamics of the Internet using system identification, and apply it to control real-time telerobotic operations via Internet with specific quality of service (QoS) offerings. To do this, we have employed system identification techniques and the ARX model to obtain the values of relevant parameters and study their dynamics. The results show a periodic behavior of the Internet delay. Experimental measurements show the accuracy and usefulness of our theoretical derivations