A Novel Optimal Control Design for Reducing of Time Delay Effects in Teleoperation Systems

The purpose of designing a controller for a teleoperation system is achieving stability and high efficiency in presence of factors such as time delay, noise, system disturbance and modeling errors. In this article seven new schemes for teleoperation systems is suggested to reduce the error of tracking between the master and the slave systems. In the first and second structures, optimal control is applied to the master and in the third structure it is applied to the slave. In the forth structure, optimal controller has been designed in both the master and slave subsystems and by a suitable combination of the output signals of both controllers and exerting it to slave, it has been tried to create the best performance with regard to tracking. In the 5th structure, optimal controller is applied to both the master and slave systems and the output of each controller is then applied to it’s own system. In the structures 6 and 7, using optimal control and wave transformation, it has been tried to reduce the tracking error between the master and the slave systems which is considered as the cost function in this article. In these two structures, optimal controller guarantees the efficiency of the system and wave variables method has been used to guarantee the stability of the system for constant time delay. In this method, the appropriate selection of weighting factors of cost function and wave impedance plays a decisive role in the improvement of system performance and reduction of tracking error between the master and the slave. Keywordteleoperation system; wave variabls methode; optimal controller; tracking error; cost function