Teleoperation Over IP Network: Network Delay Regulation and Adaptive Control

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This paper proposes a solution to control a remote manipulator robot (PUMA560) using IP network. A method is described to control this remote manipulator based on High-Order Sliding Mode so as to obtain a constant product time delay × bandwidth. Since previous method supposes a constant transmission delay, we put it over a low level mechanism (Network Delay Regulator) satisfying this criterion. This method eliminates the delay jitter in order to make remote estimation, prediction and control with a constant mean time delay. Under this condition, the stability condition of this algorithm is then studied. Some simulation results illustrate the performance of the High-Order Sliding Mode to dynamically force the remote system according to the Network Round Trip Time (NRTT).

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