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浏览/检索结果: 共2条，第1-2条 帮助 已选(0)清除 条数/页：5101520253035404550556065707580859095100   排序方式：请选择作者升序作者降序题名升序题名降序发表日期升序发表日期降序提交时间升序提交时间降序 GPC scheme for the Internet-based teleoperation 会议论文 International Joint Conference on Neural Networks, Hong Kong, China, June 1-8, 2008 作者:  Chen D(陈丹);  Xi N(席宁);  Wang YC(王越超);  Li HY(李洪谊);  Tang XS(唐旭晟) 收藏  |  浏览/下载：47/0  |  提交时间：2012/06/06 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.   GPC scheme for the Internet-based teleoperation 会议论文 Hong Kong, China, June 1-8, 2008 作者:  Chen D(陈丹);  Wang YC(王越超);  Li HY(李洪谊);  Tang XS(唐旭晟) 收藏  |  浏览/下载：43/0  |  提交时间：2012/06/06