Abstract
This paper presents a Delayed Generalized Predictive Controller (DGPC) by internal model for bilateral teleoperation systems in the presence of both communication delays and force feedback. First, the Π-freeness algebraic property of mechanical delayed systems, which presents some similarity with the notion of flatness, is used for the slave system to track a master system reference trajectory; the DGPC next ensures stability of the global slave system in spite of delays, disturbances or the slave force feedback (the reference trajectory is not a priori known). Simulation results illustrate the performance of the proposed predictive polynomial controller.
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