In this paper, behavior of teleoperation systems with modeling error and delay time error in Smith predictor is discussed. In teleoperation systems, modeling error is inevitable. This paper discusses stability of teleoperation systems with modeling error. First, error of delay time in teleoperation systems by using of Internet as communication channel is considered and the performance of Smith predictor in teleoperation systems with delay time error is discussed. Next, a new structure for teleoperation system is proposed. An adaptive filter is integrated into the new structure for determination of delay time in communication channel. The new structure augments wave variables and Smith predictor to provide an effective method for teleoperation systems. Along with the adaptive filter, this new structure is shown to overcome instability due to the variability of the delay times. Simulations results show significant improvements in the system performance.

Keywords: Time delay, Teleoperation Systems, Smithpredictor, Wave Variables

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