Predictive Input Delay Compensation with Grey Predictor for Networked Control System


  • Ahmet Kuzu ITU TUBITAK
  • Seta Bogosyan ECE University of Alaska Fairbanks
  • Metin Gokasan Istanbul Technical University


communication network delay, delay regulator, Grey predictor, Taylor series, teleoperation


The performance of networked control systems is affected strictly by time delay. Most of the literature in the area handle the problem from a stability perspective. However, stability optimized algorithms alone are not sufficient to reduce synchronization problems caused by time delay between the action and reaction in geographically distant places, and the effect and performance of other system components should also be taken into account. In teleoperation applications the reference is often provided by a human, known as the operator, and due to the nature of the human system, references provided by the human operator are of a much lower bandwidth when compared to common control reference inputs. This paper focuses on the operator, and proposes an approach to predict the manipulator’s motion (created by the operator) ahead of time with an aim to reduce the time delay between the master and slave manipulator trajectories. To highlight the improvement offered by the developed approach, hereby called Predictive Input Delay Compensator (PIDC), we compare the performance with the only other study in the literature that handles this problem using the Taylor Series approach. The performance of these two approaches is evaluated experimentally for the forward (control) path on a PUMA robot, manipulated by a human operator and it has been demonstrated that the efficient latency in the forward path is decreased by 100ms, on average, reducing the forward latency from 350ms to 250ms.

Author Biographies


Ahmet Kuzu received the B.Sc. degree in electronics and communication engineering, and M.Sc. degree in mechatronics from Istanbul Technical University, Istanbul, Turkey, in 2003 and 2006, respectively. He is now Ph.D. candidate in the same university. He has been working in Turkish Scientific and Research Council since 2004, currently as a Chief Researcher. His current research interest include different aspects of Mechatronics and Biomedical Systems. He has (co-)authored more than 30 papers.

Seta Bogosyan, ECE University of Alaska Fairbanks

Seta Bogosyan received the B.Sc., M.Sc., and Ph.D. degrees in electrical and control engineering from Istanbul Technical University, Istanbul, Turkey, in 1981, 1983, and 1991, respectively. She conducted her Ph.D. research with the Center for Robotics, University of California, Santa Barbara.
Between 1987 and 1991, she was a Researcher and Lecturer with the Center for Robotics, University of California, Santa Barbara. For the last decade, she has been an Associate Professor with Istanbul Technical University. She is currently a Faculty Member with the Department of Electrical and Computer Engineering, University of Alaska, Fairbanks. She is the author or coauthor of more than 100 journal papers, conference proceedings, and several book chapters. She is an Associate Editor for the International Journal of Intelligent Automation and Soft Computing (Autosoft). Her research interests include motion control, high-efficiency control of hybrid electric vehicles, teleoperation/bilateral control systems, and applications of nonlinear control/estimation techniques to electromechanical systems in general.

Metin Gokasan, Istanbul Technical University

Metin Gokasan received the B.Sc., M.Sc., and Ph.D. degrees in electrical and control engineering from Istanbul Technical University, Istanbul, Turkey, in 1980, 1982, and 1990, respectively.
Between 2003 and 2006, he was a Visiting Scholar with the University of Alaska, Fairbanks, where he conducted research and worked on several projects involving the control of hybrid electric vehicles and sensorless control of induction motors. He is currently a Professor with the Faculty of Electrical and Electronics Engineering, Istanbul Technical University, where he is also an acting Department Chair of Control Engineering. His research interests are the control of electrical machinery, power electronics and electrical drives, and the control of hybrid electric vehicles and mechatronics systems. He has authored two books and over 80 journal and conference publications
Dr. Gokasan is a member of the IEEE Industrial Electronics Society (IES) and the Technical Committee on Education in Engineering and Industrial Technologies of the IEEE IES.


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