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Generalized predictive control for space teleoperation systems with long time-varying delays
Yang YH(杨艳华); Yang FP(阳方平); Hua JN(化建宁); Li HY(李洪谊)
Department机器人学研究室
Conference Name2012 IEEE International Conference on Systems, Man, and Cybernetics
Conference DateOctober 14-17, 2012
Conference PlaceSeoul, Korea
Author of SourceIEEE Computer Society
Source PublicationProceedings of the 2012 IEEE International Conference on Systems, Man, and Cybernetics
PublisherIEEE
Publication PlaceNew York, USA
2012
Pages3051-3056
Indexed ByEI ; CPCI(ISTP)
EI Accession number20130415925463
WOS IDWOS:000316869203031
Contribution Rank1
ISBN978-1-4673-1714-6
KeywordLong Time-varying Delays Generalized Predictive Control (Gpc) Teleoperation Multiple Degree Of Freedom (dOf)
AbstractPrior 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.
Language英语
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10201
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.College of Applied Science and Technology, Quanzhou Normal University, Quanzhou, China
3.Graduate School of the Chinese Academy of Sciences, Beijing, China
4.Northeastern University, Shenyang, China
Recommended Citation
GB/T 7714
Yang YH,Yang FP,Hua JN,et al. Generalized predictive control for space teleoperation systems with long time-varying delays[C]//IEEE Computer Society. New York, USA:IEEE,2012:3051-3056.
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