Predictive Robust Control for Internet-based Teleoperation under Known Environment

Variational time delays and data losing phenomenon degrade performance of Internet based teleoperation system seriously, even make the system unstable. To overcome the trouble under known environment, an idea that using master state, predicted slave state and contact force between the slave and environment design local state feedback controller was used. First of all, state space model of the system was derived. Secondly, time forward observer of the slave was established in local controller and the observer was employed to predict the slave state. Moreover, time delay change rate was modeled as an uncertain parameter. Finally, stability and transparency condition was achieved. Feedback parameters, which satisfied the requirement of design, could be easily obtained by solving a linear matrix inequality. The results of the simulation show effectiveness of the conclusion