A unified predictive display scheme for teleoperation systems with multi-time-delay multi-rate measurements and missing data

Predictive display is a promising approach to tackle large time delays that greatly degrade the performance of tele-operation systems. In this paper, a unified predictive display scheme is proposed to deal with multi-time-delay multi-rate measurements and missing data, which is applicable for real systems. Firstly, a formal description of predictive display problem is introduced. Next the method principle is presented : through an equivalent transformation the original problem is converted into a standard filter problem and a prediction problem, which can be tackled by an observer-predictor structure; then the re-organized innovation analysis is utilized in the observer and is extended to deal with multi-time-delay multi-rate measurements as well as missing data with the help of indication functions. Finally simulations show the effectiveness of this approach.