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Stability analysis for Internet based teleoperated robot using prediction control
Chen D(陈丹); Tang XS(唐旭晟); Xi N(席宁); Wang YC(王越超); Li HY(李洪谊)
作者部门机器人学研究室
会议名称1st Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011
会议日期March 20-23, 2011
会议地点Kunming, China
会议主办者IEEE; IEEE Robotics and Automation Society; IEEE Nanotechnology Council; Yunan Provincial Science and Technology Department; Kunming University of Science and Technology
会议录名称2011 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011
出版者IEEE Computer Society, 445 Hoes Lane - P.O.Box 1331, Piscataway, NJ 08855-1331, United States
出版地Piscataway, NJ
2011
页码138-143
收录类别EI
EI收录号20113914379139
产权排序1
ISBN号978-1-61284-910-2
关键词Teleoperated Robot Variblae Time Delay Stability Event-prediction Generalized Predictive Control
摘要The variable time delay and the packet loss degrade the performance of Internet based teleoperation system seriously, even make the system unstable. Building upon the results of our recent work in [1], a provably stable event-prediction based control strategy is proposed for variable delay teleoperation. A Path Governor(PG) at master site, Generalized Predictive Controller (GPC) at slave site and a model of variable delay within a predictive control frame work are used to improve the response transparence. A Sparse Multivariable Linear Regression (SMLR) algorithm is proposed to predict the next Round Trip Timedelay(RTT). According to the next RTT, the PG is designed to generate the future event which can be used to compute the robotic position that is the one when the command was transmitted to the slave robot. The GPC can generate the redundant control information to diminish the influence of the packet loss and the large time delay in the internet to the system. Finally, a Lypunov-based analysis of the performance and stability of the resulting system is presented. Experiment results with a wheeled robot teleoperation setup demonstrate that these strategies can dynamically compensate for the variable time delay and reduce the performance degradation induced by packet loss.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20066
专题机器人学研究室
通讯作者Chen D(陈丹)
作者单位1.School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
推荐引用方式
GB/T 7714
Chen D,Tang XS,Xi N,et al. Stability analysis for Internet based teleoperated robot using prediction control[C]//IEEE; IEEE Robotics and Automation Society; IEEE Nanotechnology Council; Yunan Provincial Science and Technology Department; Kunming University of Science and Technology. Piscataway, NJ:IEEE Computer Society, 445 Hoes Lane - P.O.Box 1331, Piscataway, NJ 08855-1331, United States,2011:138-143.
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