Feedback control with observer for Internet based teleoperation systems
基于Internet的遥操作系统带观测器的反馈控制

There exist time delays in communication channels of a teleoperation system,and time delay reduces significant ability of teleoperation.This problem becomes especially serious in case of Internet-based teleoperation,when the time delay is variable.To overcome the trouble under unknown environment,firstly,an idea of using master state,predicted slave state and contact force between the slave and environment to design a local state feedback controller is proposed.Secondly,state space model of the system is derived.Time forward observer of the slave is established in local controller and the observer is employed to predict the slave state.Moreover,time delay changing rate is modeled as uncertain parameter.Finally,the stability and transparency condition is achieved.Feedback parameters,which satisfies the requirement of design,can be easily obtained by solving a linear matrix inequality.The results of the simulation show the effectiveness of the proposed method.