Research Article Open Access

Internet-Based Teleoperation of Carts Considering Effects of Time Delay via Continuous Pole Placement

Theophilus Okore-Hanson1 and Sun Yi1
  • 1 North Carolina A & T State University, United States
American Journal of Engineering and Applied Sciences
Volume 10 No. 2, 2017, 327-333

DOI: https://doi.org/10.3844/ajeassp.2017.327.333

Submitted On: 10 March 2017 Published On: 3 April 2017

How to Cite: Okore-Hanson, T. & Yi, S. (2017). Internet-Based Teleoperation of Carts Considering Effects of Time Delay via Continuous Pole Placement. American Journal of Engineering and Applied Sciences, 10(2), 327-333. https://doi.org/10.3844/ajeassp.2017.327.333

Abstract

A new control design for teleoperation considering time delay is presented. Unlike existing methods for communication delays, the design presented here identifies and continuously moves the rightmost eigenvalues to desired positions. Signal transmission through the Internet using protocols (e.g., UDP) introduces time delays into the system. The time delays cause instability as the system is forced to make use of past information rather than the present in determining the output one agent sends to another agent. The proposed method controls rightmost eigenvalue in infinite spectrum such that the command signal to the cart ensures a sustained stabilized system. Experimental results are presented to validate the design method.

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Keywords

  • Communication Delays
  • Eigenvalues
  • Teleoperation
  • UDP
  • Stabilization