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题名: Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems
作者: 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: IFAC Proceedings Volumes (IFAC-PapersOnline)
会议录出版者: IFAC Secretariat
出版日期: 2013
页码: 497-502
收录类别: EI
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
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/14587
Appears in Collections:机器人学研究室_会议论文

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化建宁; 崔玉洁; 王雪竹; 阳方平; 杨艳华; 李洪谊.Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems.见:IFAC Secretariat.IFAC Proceedings Volumes (IFAC-PapersOnline),,2013,497-502
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