Transient Response Enhancement in Time- Delayed Teleoperated Systems via Gain Correction

This paper tackles the effect of time delay in teleoperated systems and presents a Gain Correction (GC) technique applied to a Proportional-Velocity (PV) control architecture. Using a DC motor as a plant, the study examines how time delay affects its step response and time domain specifications, mainly settling time and percent overshoot. The findings showed that increasing time delay in the control loop can deteriorate these time domain specifications, leading to deviations from the intended design. To mitigate this problem, the Gain Correction method adjusts the derivative gain of the PV controller by using the delay margin of the desired closed loop as the delay value in the control loop to obtain a time-delayed system. This time-delayed system is simulated to obtain a time-delayed response. The delayed and undelayed system time domain characteristics (percent overshoot and settling time) are used to calculate the Gain Correction. The Gain Correction technique proved to significantly improve the transient response of the time-delayed system, bringing it closer to the desired specifications. The method is also shown to improve the delay margin of the closed loop system, making it more robust to time delays. Furthermore, it was shown how Gain Correction leads to a near-optimal derivative gain while keeping the proportional gain unchanged.