Application of robust stabilization against time-delay of communication network

In this article we report an experimental results of bilateral tele-operation system on the communication network, which has some time-varying transmission delay. The feature of the proposed control system is a combination of robust control algorithm and prediction algorithm. Previously, we reported on the characterization of time-delay of an Internet like communication network and the effectivity of H/sub /spl infin// control theory against the time-delay. Here we propose prediction algorithms for estimation of remote controlled systems response and combination methods with robust controllers. Some experimental results for bilateral tele-operation system on JGN are shown. Obvious improvement of response speed and tracking performance are confirmed with random time-delay.