Predictive control of time-delayed teleoperation in a non-visible environment

摘要

This paper proposes a new predictive control method for the teleoperation in a non-visible environment. The trajectory error caused by the time delay has been compensated by the Smith predictor and the feedback data have been estimated by the Grey model. The Smith predictor is effective for the compensation of the positioning error caused by the time delay of a precise system model. Therefore the dynamic model of a mobile robot has been derived in this research. Through simulations, the errors caused by the time delay has been verified using the Smith predictor. Also the estimation reliability of the measurement data has been demonstrated. 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.