Smith Predictor Type Control Architectures for Time Delayed Teleoperation

@article{Smith2006SmithPT,
  title={Smith Predictor Type Control Architectures for Time Delayed Teleoperation},
  author={Andrew C. Smith and Keyvan Hashtrudi-Zaad},
  journal={The International Journal of Robotics Research},
  year={2006},
  volume={25},
  pages={797 - 818}
}
An early control methodology for time delayed plants is the Smith predictor, in which the plant model is utilized to predict the non-delayed output of the plant and move the delay out of the control loop. Recent Smith predictor based teleoperation control architectures have used linear or fixed-parameter dynamic approximations of the slave/environment at the master for environment contact prediction. This paper discusses and analyzes the performance of the previous work and proposes new… 
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83 Citations

Neural network-based Smith predictor design for the time-delay in a tele-operated control system
TLDR
This article presents a methodology for compensating for the time-delay effects in tele-operated control systems by replacing the linear estimator with a neural network whose structure is based on the radial basis function (RBF).
Application of the Smith-Åström Predictor to robot force control
  • D. Kruse, J. Wen
  • Engineering
    2015 IEEE International Conference on Automation Science and Engineering (CASE)
  • 2015
TLDR
Two types of delay compensation to force control for a spring-type environment via direct cancellation are applied: Smith Predictor, and its variant Åström predictor, which significantly improve the stability margin as compared to the typical integral force control.
Time delay compensation for nonlinear bilateral teleoperation: A motion prediction approach
TLDR
An essential theorem for slave controller design is proposed to demonstrate performance recovery of the closed-loop system with cascade observer.
Application of the IMPACT structure on bilateral teleoperation
A common issue encountered in teleoperation systems is a time-delay in the communication channel. Depending on the type of communication protocol, the delay can be constant or time-varying. In both…
Predictive control of time-delayed teleoperation in a non-visible environment
TLDR
Robust teleoperations in a non-visible environment have been performed with a mobile robot to effectively avoid the obstacles in order to reach the target position by the proposed prediction scheme which associates the Smith predictor and the Grey model.
A novel adaptive robust control architecture for bilateral teleoperation systems under time‐varying delays
Bilateral teleoperation technology has caused wide attentions due to its applications in various remote operation systems. The communication delay becomes one of the main challenging issues in the…
Model-reference model-mediated control for time-delayed teleoperation systems
TLDR
This paper proposes a model-reference model-mediated teleoperation control architecture that provides enhanced synchronization between the slave and virtual slave models and keeps both the master and slave responsive.
Comparative Study of Wave-Variables and Smith Predictor for Teleoperator Force-Position Control
TLDR
Simulation results demonstrate that the both strategies can improve the stability of the teleoperation system with fixed time-delay and the wave-variables controller has better robustness to uncertain time- Delay while Smith predictor achieves better control performance with known model parameters and time- delay.
Teleoperation Control of a Position‐Based Impedance Force Controlled Mobile Robot by Neural Network Learning: Experimental Studies
Effective haptic performance in teleoperation control systems can be achieved by solving two major problems: the time‐delay in communication channels and the transparency of force control. The…
Delay compensation in bilateral teleoperation using predictor observers
Destabilization and performance degradation problems caused by the time delay in communication channel is a serious problem in bilateral teleoperation. In particular, variability of the delay due to…
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