HSIC Predictive Control of Inspection Vehicle Teleoperation with Variable Time

Regarding to some deficiency such as conflicts between stability and operability,excessive dependence on the precision of mathematical model,bad interference immunity,and the complexity of controller design,which exists in the teleoperation system of solving the problem of network delay,a control algorithm of HSIC-Smith is presented.Firstly,to describe the system dynamics,the model appropriate features model is selected according to the error curve of dynamic despondence.Secondly,the algorithm,in which different motion state is controlled by respective modal of the HSIC based on Smith principle,is employed to reduce or eliminate the influence of network delays and to enhance the stability of the system.Finally,the algorithm is compared with PID-Smith predictor algorithm by experiments.The results show that the proposed algorithm can realize quick and accurate control of the teleoperation system of inspection vehicle,and adapt to the variance of delays.