An Adaptive Teleoperation Based On Predictive Control

Remote communication connects with the operating system due to communication delays, causing system instability and performance. In order to eliminate or reduce the impact of delay, communication delay for the destruction of teleportation system stability and transparency issues, the use of predictive control, in theory, can eliminate communication delays. First of all, through the establishment of the system state space model, followed by remote control system feedback control structure, a predictive controller design. Can achieve the objective of reducing communication delays, and then improve the stability and transparency.