Teleoperation using predictive control approach

Teleoperation is gaining popularity along with the growth of the internet. Teleoperation has a wide variety of applications. For example, one can control a mobile robot or a system which is located far away and perform specific tasks. Teleoperation is commonly used in places where the environment is considered unsafe for humans to work and also in the entertainment industry. Therefore there is a need to study the working principles of a teleoperation system in order to constantly improve the performance of the whole system.;Simulations and experiments were conducted on the proposed predictive control strategy in the presence of various time delays and packet loss. The simulation and experimental results are compared with conventional schemes to prove the effectiveness of the proposed predictive control approach.;This thesis aims at providing a control strategy for teleoperation of mobile robots. With the internet, time delays and packet loss are common problems which can affect the performance of a teleoperation system. The performance of the system depends a lot on the design of the controllers. If the controller design is not efficient, then there will be a reduction in the system performance which may also affect the stability of the system. As time delays and packet loss cannot be avoided, a predictive control strategy is designed, aimed at minimizing the effects of time delays and packet loss. This thesis concentrates on the tracking performance of the teleoperation system.