A packet-based network control system architecture for teleoperation and remote laboratories

In this paper, an anticipative controller for a packetized based networked control system is presented as a new solution for teleoperation and remote labs where the communication channel is Internet. The controller and the plant exchange information in form of packets through the Internet. Each control packet is filled with a sequence of control values that will be used to improve the system performance against delays and data losses. A servo-motor prototype is used for testing. Experimental results show that the anticipative controller behaves similar to a local control and presents a much better behavior than a conventional networked control system.