Design and implementation of a modified communication disturbance observer   for teleoperation systems

ZAHRA ZEINALY; AMIN RAMEZANI; SADJAAD OZGOLI

Article Details

Design and implementation of a modified communication disturbance observer for teleoperation systems

Authors:

ZAHRA ZEINALY | AMIN RAMEZANI | SADJAAD OZGOLI

Publisher:

TUBITAK

Journal:

Turkish Journal of Electrical Engineering and Computer Science 2017 Vol.25 Issue 2, pp.1522-1540

Document Type:

Article

Publication Date:

3/2017

Document Language:

Turkish

Document ID (Org No.):

2000741149

Frequency:

Bimonthly

eISSN:

1303-6203

pISSN:

1300-0632

Abstract:

 

In this paper, a novel structure for a communication   disturbance observer in teleoperation systems is proposed to achieve robust   stability. A time delay compensation method based on the concept of network   disturbance and a communication disturbance observer (CDOB) has been   proposed in past research. Unlike model-based approaches, it works without a   time delay model. Therefore, it can be implemented in teleoperation systems   with unknown and time-varying delay. However, it has been observed that the   system model errors and external disturbances seriously affect the   steady-state characteristics. Hence, in this paper, to achieve robustness   against disturbance and model uncertainty, the structure of the conventional   CDOB is modified and a new structure for the CDOB in teleoperation systems   is proposed, which uses the slave's delayed torque instead of its delayed   position for time delay compensation. The desired transient response   characteristic is achieved by designing the controller parameters. The time   delay in the communication channel has been simulated by PCs in past   studies, but in this paper, by implementing the communication channel   through the TCP/IP protocol in the experimental setup, the effectiveness of   the proposed structure is studied in the presence of real time delay and   compared with the Smith predictor, the conventional CDOB, and other   structures of CDOBs.

Article Details

Design and implementation of a modified communication disturbance observer for teleoperation systems

Authors: ZAHRA ZEINALY | AMIN RAMEZANI | SADJAAD OZGOLI

Publisher: TUBITAK

Journal: Turkish Journal of Electrical Engineering and Computer Science 2017 Vol.25 Issue 2, pp.1522-1540

Document Type: Article

Publication Date: 3/2017

Document Language: Turkish

Document ID (Org No.): 2000741149

Frequency: Bimonthly

eISSN: 1303-6203

pISSN: 1300-0632

Issues

Authors:

ZAHRA ZEINALY | AMIN RAMEZANI | SADJAAD OZGOLI

Publisher:

TUBITAK

Journal:

Turkish Journal of Electrical Engineering and Computer Science 2017 Vol.25 Issue 2, pp.1522-1540

Document Type:

Article

Publication Date:

3/2017

Document Language:

Turkish

Document ID (Org No.):

2000741149

Frequency:

Bimonthly

eISSN:

1303-6203

pISSN:

1300-0632