| The use of the Internet is not limited anymore to the transmission of data. In the past few years many successful attempts have been made to use the Internet as a command transmission media; where control can be sent to remote systems and feedback can be obtained via the Internet. But with this media comes several limitations; delay, lost packets and disconnection. All of these limitations may cause instability in the system especially if the system loop is closed via the Internet. All the previous work done that addresses these problems assumed several conditions; for example, time delay is constant or has an upper bound, control is not in real-time. A new real-time control approach is presented that deals with these limitations and difficulties without any assumptions made regarding the time delay. The approach is based on Event Based Control, which was implemented on a mobile robot over the Internet. The commands sent to the robot are velocity and the feed-back is force based on the environment. It will be shown that this approach results in a stable system. In addition, a new force feedback generation method is used, which would give the operator a specific perception about the physical environment that the robot is in. |