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题名: Generalized predictive control for space teleoperation systems with long time-varying delays
作者: Yang YH(杨艳华) ; Yang FP(阳方平) ; Hua JN(化建宁) ; Li HY(李洪谊)
作者部门: 机器人学研究室
会议名称: 2012 IEEE International Conference on Systems, Man, and Cybernetics
会议日期: October 14-17, 2012
会议地点: Seoul, Korea
会议主办者: IEEE Computer Society
会议录: Proceedings of the 2012 IEEE International Conference on Systems, Man, and Cybernetics
会议录出版者: IEEE
会议录出版地: New York, USA
出版日期: 2012
页码: 3051-3056
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4673-1714-6
关键词: long time-varying delays ; generalized predictive control (GPC) ; teleoperation ; multiple degree of freedom (DOF)
摘要: Prior researches of generalized predictive control (GPC) in teleoperation systems have mainly considered short transmitted time delays or single degree of freedom (DOF) manipulators of master and slave. This paper presents a GPC strategy for space teleoperation systems in which the master and slave manipulators are both multi-DOF and the communication network brings long time-varying delays. The nonlinear dynamics of the multi-DOF slave manipulator is linearized and described by a linear state-space equation. Meanwhile, a nonlinear compensator is used to compensate the nonlinear parts of the slave. Then, based on the equation, a state-space model based GPC controller is designed on the master side to stabilize the system and make the slave manipulator track the master position and velocity no matter whether the manipulator contacts with the environment or not. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10201
Appears in Collections:机器人学研究室_会议论文

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