This paper presents the remote control of a mobile robot via the Internet. The delay time is one of the biggest obstacles for many real-time applications, especially for Internet-based control systems. This article presents three architectures to control a robot in an Internet network with- out guaranteed quality of service. These architectures allow us to control the robot movements accurately and safely. This work presents the use of virtual reality in the context of the remote control. Virtual reality can be used in a conventional manner to simulate the behavior of a system, but also in parallel with the real system to improve the quality of control. To validate our work, we conducted teleoperation experiments in various places, and the experimental results show the advantages and drawbacks of each proposed architecture.