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Alternative TitleGeneralized Predictive Control Scheme for the Internet-based Telerobot Control System
陈丹; 席宁; 王越超; 李洪谊; 唐旭晟
Source Publication机械工程学报
Indexed ByEI ; CSCD
EI Accession number20091612040449
Contribution Rank1
Funding Organization国家自然科学基金重点资助项目(60334010)
KeywordInternet 网络遥操作 广义预测控制 时间标记
Other AbstractThe variable time delay and the packet loss in the Internet degrade seriously the performance of Internet based teleoperation system, and even make the system unstable. To overcome this problem, a novel control architecture of the Internet-based teleoperation system is proposed. The reference information signed with time stamp at master site is transmitted to the slave site and then feeds back to the operator, so the operator can get the round-trip-timedelay(RTT) and then predict the next RTT making use of the multivariate linear regression algorithm to analyze the preceding RTT which has been got. A generalized predictive control(GPC) strategy using CARIMA model of the lineared slave robot is designed at slave site to control the telerobot. Consequently, the operation performance of the system is improved by using this method. Simultaneously, the GPC controller generates the redundant control information which can diminish the influence of the packet loss and the large time delay in the Internet to the system. Finally, stability condition is deduced according to the predictive stability theorem. Simulation results show that these strategies can solve efficiently the problem caused by the variable time delay and the packet loss.
Citation statistics
Cited Times:4[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author陈丹
Recommended Citation
GB/T 7714
陈丹,席宁,王越超,等. 广义预测控制方法在网络遥操作机器人系统中的应用[J]. 机械工程学报,2009,45(3):191-196.
APA 陈丹,席宁,王越超,李洪谊,&唐旭晟.(2009).广义预测控制方法在网络遥操作机器人系统中的应用.机械工程学报,45(3),191-196.
MLA 陈丹,et al."广义预测控制方法在网络遥操作机器人系统中的应用".机械工程学报 45.3(2009):191-196.
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