GPC scheme for the Internet-based teleoperation

The variable time delay and the packet loss degrade the performance of Internet based teleoperation system seriously, even make the system unstable. To overcome the trouble, an idea that using CARIMA model of the linearized slave robot to design a controller based on the Generalized Predictive Control (GPC) method is proposed in this paper. We place the GPC controller at the remote site. First of all, The CARIMA model of the linearized slave robot is derived. Secondly, a GPC controller is designed at slave site to generate the redundant control information to diminish the influence of the packet loss and the large time delay in the internet to the system. Moreover, in order to solve the problem caused by the variable time delay, the reference information signed with time stamp is used and feedback to the operator, so the operator can predict the next round trip time delay(RTT) according to the preceding RTT we got. Finally, stability condition is achieved. Simulation results show that these strategies can dynamically compensate for the variable time delay and reduce the performance degradation induced by packet loss.