Teleoperation systems design using augmented wave-variables and Smith predictor method for reducing time-delay effects

The performance of a wave-based teleoperator is heavily dependent on the amount of time delay present in the system. Although wave variables provide a very promising method to establish teleoperation in the presence of any time delay, the tracking error in a wave-based teleoperator will be increased by increasing the time delay. In this paper, we introduce a new method for reducing time delay effects in teleoperation systems. By the proposed method, the wave variable method is combined with the Smith predictor. The simulation result is presented and it is shown that the new approach provides good performance compared with the wave variable technique alone.