Delays analysis for teleoperation over internet and smith predictor with adaptive time-delay control

For the teleoperation of a robot over the IP network, we must deal with the uncertain time-delay because it reduces the stability of the teleoperation significantly. The time-delay is produced by the variable network structure and its imbalanced distributed flows. In this paper, we first analyze the time-delay of Internet and establish a model based on the dynamic IP network traffic characteristics, and then bring forward a real-time remote control architecture based on Smith predictor principle and network delay regulator method. In order to overcome the predicted time-delay errors, we present an online adaptive time-delay parameter control scheme. These methods are validated through experiments and simulations, and results of them are also given and explained. All these results show that the proposed model and the enhanced Smith Predictor with adaptive time-delay control are desirable to the improvement of Internet-based teleoperation systems