A Study on Bilateral Telecontrol of Networked Robot with Variable Time-delay

摘要

With the great advancement of Internet, the bilateral telecontrol system will enable operator to accomplish complicated tasks with haptic information all over the world. The paper emphasizes on the mainproblem of such system, that is variable time-delay which brought by the Internet will cause the telecontrol system to be unstable. Firstly, after the discussion about the master-salve operation and the effect of Internet to it, one kind of control architecture based on compensator, which can ensure the stability of system with constant time-delay, isproposed. Secondly, the uncertainty characteristic of the time-delay is described under TCP and UDP separately, and the problems of the two protocols in telecontrol system are presented, and also the corresponding solution is given out. Thirdly, in order to solve those uncertainty problems, using the idea of sliding mode control, the telecontrol architecture with switching compensator is investigated.