A predictive wave-based approach for time delayed virtual environments haptics systems

This paper extends earlier results of wave based approach for stable force reflecting systems in the presence of the transmission delay (constant or variable). Theoretically, stability of the whole system is kept for any time delay, but degradation performance increases proportionally with a large delays. In this paper, we propose a new control scheme that is also based on wave variables, but minimizes the degradation performance due to large constant time delay, the time varying delay case is also discussed. The proposed method uses a modified Smith prediction is simple and easy to implement.