Design and implementation of a modi ed communication disturbance observer for teleoperation systems

OZGOLI, Sadjaad; RAMEZANI, Amin; ZEINALY, Zahra

Design and implementation of a modi ed communication disturbance observer for teleoperation systems

Zahra ZEINALY, (Department of Electrical Computer Engineering, Faculty of Control Engineering, Tarbiat Modares University, Tehran, Iran)

Amin RAMEZANI, (Department of Electrical Computer Engineering, Faculty of Control Engineering, Tarbiat Modares University, Tehran, Iran)

Sadjaad OZGOLI (Department of Electrical Computer Engineering, Faculty of Control Engineering, Tarbiat Modares University, Tehran, Iran)

Turkish Journal of Electrical Engineering and Computer Sciences

1 0

Yıl: 2017 Cilt: 25 Sayı: 2 Sayfa Aralığı: 1522 - 1540 Metin Dili: İngilizce İndeks Tarihi: 29-07-2022

Design and implementation of a modi ed communication disturbance observer for teleoperation systems

Öz:

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 modi ed 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.

Anahtar Kelime:

Konular: Mühendislik, Elektrik ve Elektronik

Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık

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APA	ZEINALY Z, RAMEZANI A, OZGOLI S (2017). Design and implementation of a modi ed communication disturbance observer for teleoperation systems. , 1522 - 1540.
Chicago	ZEINALY Zahra,RAMEZANI Amin,OZGOLI Sadjaad Design and implementation of a modi ed communication disturbance observer for teleoperation systems. (2017): 1522 - 1540.
MLA	ZEINALY Zahra,RAMEZANI Amin,OZGOLI Sadjaad Design and implementation of a modi ed communication disturbance observer for teleoperation systems. , 2017, ss.1522 - 1540.
AMA	ZEINALY Z,RAMEZANI A,OZGOLI S Design and implementation of a modi ed communication disturbance observer for teleoperation systems. . 2017; 1522 - 1540.
Vancouver	ZEINALY Z,RAMEZANI A,OZGOLI S Design and implementation of a modi ed communication disturbance observer for teleoperation systems. . 2017; 1522 - 1540.
IEEE	ZEINALY Z,RAMEZANI A,OZGOLI S "Design and implementation of a modi ed communication disturbance observer for teleoperation systems." , ss.1522 - 1540, 2017.
ISNAD	ZEINALY, Zahra vd. "Design and implementation of a modi ed communication disturbance observer for teleoperation systems". (2017), 1522-1540.

APA	ZEINALY Z, RAMEZANI A, OZGOLI S (2017). Design and implementation of a modi ed communication disturbance observer for teleoperation systems. Turkish Journal of Electrical Engineering and Computer Sciences, 25(2), 1522 - 1540.
Chicago	ZEINALY Zahra,RAMEZANI Amin,OZGOLI Sadjaad Design and implementation of a modi ed communication disturbance observer for teleoperation systems. Turkish Journal of Electrical Engineering and Computer Sciences 25, no.2 (2017): 1522 - 1540.
MLA	ZEINALY Zahra,RAMEZANI Amin,OZGOLI Sadjaad Design and implementation of a modi ed communication disturbance observer for teleoperation systems. Turkish Journal of Electrical Engineering and Computer Sciences, vol.25, no.2, 2017, ss.1522 - 1540.
AMA	ZEINALY Z,RAMEZANI A,OZGOLI S Design and implementation of a modi ed communication disturbance observer for teleoperation systems. Turkish Journal of Electrical Engineering and Computer Sciences. 2017; 25(2): 1522 - 1540.
Vancouver	ZEINALY Z,RAMEZANI A,OZGOLI S Design and implementation of a modi ed communication disturbance observer for teleoperation systems. Turkish Journal of Electrical Engineering and Computer Sciences. 2017; 25(2): 1522 - 1540.
IEEE	ZEINALY Z,RAMEZANI A,OZGOLI S "Design and implementation of a modi ed communication disturbance observer for teleoperation systems." Turkish Journal of Electrical Engineering and Computer Sciences, 25, ss.1522 - 1540, 2017.
ISNAD	ZEINALY, Zahra vd. "Design and implementation of a modi ed communication disturbance observer for teleoperation systems". Turkish Journal of Electrical Engineering and Computer Sciences 25/2 (2017), 1522-1540.