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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)
Department机器人学研究室
Conference Name1st Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011
Conference DateMarch 20-23, 2011
Conference PlaceKunming, China
Author of SourceIEEE; IEEE Robotics and Automation Society; IEEE Nanotechnology Council; Yunan Provincial Science and Technology Department; Kunming University of Science and Technology
Source Publication2011 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011
PublisherIEEE Computer Society, 445 Hoes Lane - P.O.Box 1331, Piscataway, NJ 08855-1331, United States
Publication PlacePiscataway, NJ
2011
Pages138-143
Indexed ByEI
EI Accession number20113914379139
Contribution Rank1
ISBN978-1-61284-910-2
KeywordTeleoperated Robot Variblae Time Delay Stability Event-prediction Generalized Predictive Control
AbstractThe 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20066
Collection机器人学研究室
Corresponding AuthorChen D(陈丹)
Affiliation1.School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
Recommended Citation
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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