Wave-based teleoperation with prediction

©2001 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.Presented at the 2001 American Control Conference, Arlington, Virginia, 25-27 June 2001.DOI: 10.1109/ACC.2001.945706Wave variables based on passivity and scattering theory provide a good tool for establishing bilateral teleoperation in the presence of a constant time delay. Recently, these techniques have been extended to be used for a varying time delay, as in the case of Internet-based teleoperation. Although stability is guaranteed for virtually any time delay, performance rapidly degrades for larger delays. In this paper, a predictor derived from a modified Smith predictor along with a Kalman estimator and an energy regulator is used to enhance the performance of a wave-based teleoperator in the presence of a constant delay. Also, the current wave transformation equations are extended to a more general case (better suited for systems with multiple degrees of freedom