부산대학교 도서관

In this article we report experimental results on the maneuverability of bi-lateral tele-operation system which is constructed over the experimental communication network with time-delay. Robust control technique based on H-inf theory is applied to compensate the degradation of stability caused by uncertainty of time-delay. The experimental environment includes moving units, control units and communication units. Moving unit consists of a DC-servo motor, a rotary encoder and electrical units for driving and sensing. These units are controlled via personal computer with RTAI real-time operation system and control algorithm based on robust control theory. Computers are connected by Ethernet and can communicate via TCP/IP or UDP/IP communication protocol. The experimental results illustrate the effectiveness and limitation of bi-lateral tele-operation system on the poor communication network system.