Teleoperation systems over the internet: Experimental validation of a bilateral generalized predictive controller

T. Slama, D. Aubry, A. Trevisani, R. Oboe, F. Kratz

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper presents an experimental validation of an extension of the Generalized Predictive Controller (GPC), called Bilateral GPC (BGPC), on a teleoperation system in the presence of communication delays, packet losses and slave force feedback. Contrary to usual GPC, the proposed approach allows to take into account the case where the reference trajectory is not a priori known. This difficulty is due to the slave force feedback which alters the master reference trajectory. Some stability and robustness issues are examined in the frequency domain with a comparison to those obtained with a PID controller. The proposed BGPC ensures robust stability in the presence of environment and transmission time-delays uncertainties. For the experimentations, the communication network is Internet using UDP protocol while the slave robot is a 6-DOF anthropomorphic robot with a force sensor. All the presented results have been obtained between the site of the Laboratory of Vision and Robotic, Bourges, France, and the site of the Department of Technique and Management of Industrial Systems, Vicenza, Italy (distance ≈ 1000 km).

Original languageEnglish
Title of host publication2007 European Control Conference, ECC 2007
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Print)9783952417386
Publication statusPublished - Mar 25 2015
Event2007 9th European Control Conference, ECC 2007 - Kos, Greece
Duration: Jul 2 2007Jul 5 2007


Other2007 9th European Control Conference, ECC 2007

ASJC Scopus subject areas

  • Control and Systems Engineering


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