Mode Switching-Based Symmetric Predictive Control Mechanism for Networked Teleoperation Space Robot System

Bilateral synchronization control problem for networked teleoperation space robot system (NTSRS) with unknown gravity and asymmetric, random delay as well as communication intermittent interruption is discussed in this paper. To make full use of limited operation window time, improve telepresence, and realize continuous teleoperation, a special mode switching-based symmetric predictive control mechanism is designed, where the mode switching idea...