Smith Predictor Type Control Architectures for Time Delayed Teleoperation

  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},
  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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