The especial mechanism of signal transmission over internet induces some problems , for instance , time - varying communication delay , dropout and synchronization . firstly , this paper presents some primary problems and related control schemes for internet based telerobotic systems , for example , supervisory control , predictive display control , event based control and passive control , and so on Internet網(wǎng)絡系統(tǒng)由于其特殊的信號傳輸方式和機制,信號在傳輸過程中會出現(xiàn)時延、丟包、亂序和同步等問題,而且這種時延是隨機時變的,甚至是不確定的,這就使得網(wǎng)絡遙操作系統(tǒng)的控制更具有復雜性和難度。