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Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems
Hua JN(化建宁); Cui YJ(崔玉洁); Wang XZ(王雪竹); Yang FP(阳方平); Yang YH(杨艳华); Li HY(李洪谊)
作者部门机器人学研究室
会议名称3rd IFAC Conference on Intelligent Control and Automation Science, ICONS 2013
会议日期September 2-4, 2013
会议地点Chengdu, China
会议主办者and Signal Processing; Adaptive and Learning Systems; et al.; IFAC Tech. Committees on: Model., Identif.; IFAC Technical Committees on: Computers for Control; IFAC Technical Committees on: Intell. Autonomous Vehicles; IFAC Technical Committees on: Optimal Control
会议录名称IFAC Proceedings Volumes (IFAC-PapersOnline)
出版者IFAC Secretariat
2013
页码497-502
收录类别EI
EI收录号20141317502110
产权排序2
ISSN号1474-6670
关键词Delay Control Systems Forecasting Intelligent Control Jitter Linear Regression Pendulums Remote Control System Stability Time Delay
摘要The most challenging difficulties for teleoperation systems are well recognized as the Internet uncertain time delays, which might degrade system performance or even lead to system instability. This paper proposes a novel control framework for Internet-based teleoperation systems which is based on the prediction of jitter of Internet one-way time-delay. Internet jitter is predicated based on the sparse multivariate linear regression method. The slave system can be controlled using a virtual system provided at the master site, which is updated according to historical commands transmitted to the slave site and Internet jitter prediction results. The presented control framework is deployed in a virtual inverted pendulum teleoperation system developed. In the experiments, users successfully stabilize the remote virtual pendulum through the Internet, which demonstrate the effectiveness and prospect of the proposed Internet control framework.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/14587
专题机器人学研究室
推荐引用方式
GB/T 7714
Hua JN,Cui YJ,Wang XZ,et al. Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems[C]//and Signal Processing; Adaptive and Learning Systems; et al.; IFAC Tech. Committees on: Model., Identif.; IFAC Technical Committees on: Computers for Control; IFAC Technical Committees on: Intell. Autonomous Vehicles; IFAC Technical Committees on: Optimal Control:IFAC Secretariat,2013:497-502.
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