QQ客服 官方微博 反馈留言

	GPC scheme for the Internet-based teleoperation
	Chen D(陈丹); Xi N(席宁); Wang YC(王越超); Li HY(李洪谊); Tang XS(唐旭晟)
	2008
会议名称	International Joint Conference on Neural Networks
会议日期	June 1-8, 2008
会议地点	Hong Kong, China
关键词	The variable time delay and the packet loss degrade the performance of Internet based teleoperation system seriously even make the system unstable. To overcome the trouble an idea that using CARIMA model of the linearized slave robot to design a controller based on the Generalized Predictive Control (GPC) method is proposed in this paper. We place the GPC controller at the remote site. First of all The CARIMA model of the linearized slave robot is derived. Secondly a GPC controller is designed at slave site to generate the redundant control information to diminish the influence of the packet loss and the large time delay in the internet to the system. Moreover in order to solve the problem caused by the variable time delay the reference information signed with time stamp is used and fedback to the operator so the operator can predict the next round trip time delay(RTT) according to the preceding RTT we got. Finally stability condition is achieved. Simulation results show that these strategies can dynamically compensate for the variable time delay and reduce the performance degradation induced by packet loss.
页码	1985-1990
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE
会议录	2008 IEEE INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1-8
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISSN号	1098-7576
ISBN号	978-1-4244-1820-6
WOS记录号	WOS:000263827201066
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8725]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Chen D,Xi N,Wang YC,et al. GPC scheme for the Internet-based teleoperation[C]. 见:International Joint Conference on Neural Networks. Hong Kong, China. June 1-8, 2008.

个性服务

查看访问统计

相关权益政策

暂无数据

收藏/分享

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。