Feedback Control of Dynamic Systems
Feedback Control of Dynamic Systems
Theory of Robot Control
Toward high-fidelity telepresence in space and surgery robotics
Presence: Teleoperators and Virtual Environments - Special section: Advances in interactive multimodal telepresent systems
Motion Synchronization in Virtual Environments with Shared Haptics and Large Time Delays
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
A Trajectory-Preserving Synchronization Method for Collaborative Visualization
IEEE Transactions on Visualization and Computer Graphics
Advanced Man-Machine Interaction: Fundamentals and Implementation (Signals and Communication Technology)
Stability and Stabilization of Time-Delay Systems (Advances in Design & Control) (Advances in Design and Control)
Modeling and control of cooperative teleoperation systems
IEEE Transactions on Robotics
Passive Bilateral Teleoperation With Constant Time Delay
IEEE Transactions on Robotics
Local-lag and timewarp: providing consistency for replicated continuous applications
IEEE Transactions on Multimedia
Congestion control in high-speed communication networks using the Smith principle
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
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This paper addresses a new control strategy for synchronizing two or more distributed and interconnected dynamic systems having communication time delays. The proposed strategy that uses the Smith predictor principle and delay information not only achieves synchronization but also preserves the natural local dynamics of each subsystem without being affected by the feedback nature of control. The proposed synchronization scheme is generalized to cases that deal with an arbitrary number of heterogeneous interconnected systems through dynamic scaling of input under a ring-type network configuration. In addition, possibility of applying the proposed scheme to nonlinear systems is discussed. Simulation and experimental tests are conducted to validate theoretical results.