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Teleoperation Over IP Network: Network Delay Regulation and Adaptive Control

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Abstract

This paper proposes a solution to control a remote manipulator robot (PUMA560) using IP network. A method is described to control this remote manipulator based on High-Order Sliding Mode so as to obtain a constant product time delay × bandwidth. Since previous method supposes a constant transmission delay, we put it over a low level mechanism (Network Delay Regulator) satisfying this criterion. This method eliminates the delay jitter in order to make remote estimation, prediction and control with a constant mean time delay. Under this condition, the stability condition of this algorithm is then studied. Some simulation results illustrate the performance of the High-Order Sliding Mode to dynamically force the remote system according to the Network Round Trip Time (NRTT).

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Authors and Affiliations

  1. LIRMM, 161 rue Ada, Montpellier, 34000, France

    Philippe Fraisse

  2. Batiment L. de Vinci, ICTT, 20 av A. Einstein, Villeurbanne, 69621, France

    Arnaud Lelevé

Authors
  1. Philippe Fraisse
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  2. Arnaud Lelevé
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Fraisse, P., Lelevé, A. Teleoperation Over IP Network: Network Delay Regulation and Adaptive Control. Autonomous Robots 15, 225–235 (2003). https://doi.org/10.1023/A:1026112419614

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  • DOI: https://doi.org/10.1023/A:1026112419614

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