Teleoperation of a Mobile Robot using Predictive Control Approach

摘要

Nowadays, teleoperation has a wide variety of applications. For example in a bilateral teleoperation system, a human can control a robot or a system which is far away from each other. One of the major problems faced in a bilateral teleoperation system is the time delay due to the transmission of data between the master and the slave sides. If the controller is not properly designed, the delay will degrade the closed - loop performance and even worse, it will destabilize the bilaterally controlled teleoperator. In order to minimize the effect of the time delay we chose a predictive control approach to improve the system performance while at the same time it can retain the stability of the whole teleoperation system. Here the human operator dynamics is not taken into account and hence less prior information is required for the design when compared with earlier proposed control schemes. Another main contribution of this paper is that various comparison results with conventional schemes are extensively discussed. Finally, the simulation results further show the effectiveness of the proposed approach.