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Alternative TitlePassive Scattering Transform Bilateral Teleoperation for an Internet - Based Mobile Robot
陈宜滨; 席宁; 李洪谊
Source Publication控制工程
Volume20Issue:5Pages:900-905, 909
Indexed ByCSCD
Contribution Rank1
Funding Organization国家自然科学基金资助项目(60705021)
Keyword无源性 波变量 双边遥操作 随机时延
Other AbstractThe random time delay brings great challenges to the controller design for the Internet - based teleoperation system,the worst case is that it can destabilize the Internet - based teleoperation system. First it gives a brief historical preview of bilateral passive control theory and the wave variable control approach,and then a passive scattering transform method,extending the passive bilateral control method to the Internet - based random time delay teleoperation system,is advanced to guarantee the teleoperation system’s stability with any non - symmetric random network time delay. Finally,a virtual master - slave manipulator bilateral control scheme is designed for mobile robot teleoperation based on the passive scattering transformation method,and simulations are carried out to verify the results at the end of this paper.
Citation statistics
Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
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GB/T 7714
陈宜滨,席宁,李洪谊. 无源散射变换的双边移动机器人网络遥操作[J]. 控制工程,2013,20(5):900-905, 909.
APA 陈宜滨,席宁,&李洪谊.(2013).无源散射变换的双边移动机器人网络遥操作.控制工程,20(5),900-905, 909.
MLA 陈宜滨,et al."无源散射变换的双边移动机器人网络遥操作".控制工程 20.5(2013):900-905, 909.
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