Feedback Control with Observer of Internet Based Teleoperation Systems
遥操作系统带观测器的反馈控制

There are communication time delays in communication channels of a telepresence telerobot system. This conduces to instability and bad performance of the system. In order to eliminate or reduce the effect of time delays to a telerobot telepresence system,time forward observer is used to predict the state of the slave. Moreover, force,position and velocity feedback is proposed and control parameter is designed to ensure that the system is stable and the performance is good. The results of the experiment showed effectiveness of this method.