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

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.