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Mathematical Problems in Engineering
Volume 2014, Article ID 608208, 12 pages
Research Article

Experimental Evaluation of Novel Master-Slave Configurations for Position Control under Random Network Delay and Variable Load for Teleoperation

1Control Engineering Department, Faculty of Electrical and Electronics Engineering, Istanbul Technical University, 34469 Istanbul, Turkey
2Tubitak Bilgem BTE, 41470 Kocaeli, Turkey
3Electrical and Computer Engineering, University of Alaska Fairbanks, Fairbanks, AK 99775, USA
4Faculty of Engineering and Natural Sciences, Sabancı University, Orhanlı, Tuzla, 34956 Istanbul, Turkey

Received 13 June 2014; Revised 12 November 2014; Accepted 14 November 2014; Published 24 December 2014

Academic Editor: Hector Puebla

Copyright © 2014 Ahmet Kuzu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes two novel master-slave configurations that provide improvements in both control and communication aspects of teleoperation systems to achieve an overall improved performance in position control. The proposed novel master-slave configurations integrate modular control and communication approaches, consisting of a delay regulator to address problems related to variable network delay common to such systems, and a model tracking control that runs on the slave side for the compensation of uncertainties and model mismatch on the slave side. One of the configurations uses a sliding mode observer and the other one uses a modified Smith predictor scheme on the master side to ensure position transparency between the master and slave, while reference tracking of the slave is ensured by a proportional-differentiator type controller in both configurations. Experiments conducted for the networked position control of a single-link arm under system uncertainties and randomly varying network delays demonstrate significant performance improvements with both configurations over the past literature.