Behavior of Smith predictor in teleoperation systems with modeling and delay time errors

In this paper, behavior of teleoperation systems with modeling error and error of delay time in Smith predictor is discussed. In teleoperation systems usually there is a large distance between master system and slave system. In this case, there is always an error in modeling of system. The condition for stability of teleoperation systems with modeling error is derived by introducing a theorem. This theorem can assist a designer in ensuring the stability of the teleoperation system. Also, error of delay time and stability of teleoperation systems by using of Internet as communication channel are discussed. The effect of delay time prediction on the system stability and performance is studied and it is shown that delay time prediction could improve system performance. Simulation results are presented to verify the obtained results.