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题名: Event-based Predictive Control Strategy for Teleoperation via Internet
作者: Chen D(陈丹) ; Xi N(席宁) ; Wang YC(王越超) ; Li HY(李洪谊) ; Tang XS(唐旭晟)
作者部门: 机器人学研究室
会议名称: IEEE/ASME International Conference on Advanced Intelligent Mechatronics
会议日期: July 2-5, 2008
会议地点: XIan, China
会议主办者: IEEE
会议录: 2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2008
页码: 359-364
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2494-8
关键词: Path Governor ; Global Predictive Control ; Teleoperation ; Event-based control
摘要: The variable time delay and the packet loss degrade the performance of Internet based teleoperation system severely, even make the system unstable. Most of the previous work on Internet-based teleoperations rest on many assumptions, for example, time delay is constant or has upper bound, control is not in real-time. This paper presents a new predictive control strategy for the Internet based teleoperation system. The strategy is quite different from traditional methods. Instead of using time as motion reference for the control and sensor signals, the proposed method, called event based method, choose another motion reference which can efficiently carry the sensory information of the teleoperator. To improve the tracking control performance, a discrete-time device called Path Governor (PG) generates on line a suitable time-parameterization of the predictive path to be tracked by solving a look-ahead optimization problem. And then a Global Predictive Control (GPC) controller is designed at the slave site to generate the redundant control information to diminish the influence of the packet loss and the large time delay in the internet. In this paper, analysis and design of event based method for internet-based teleoperation is described. Stability of teleoperation system is proven. And stability conditions are also given. Simulations and results demonstrate the effectiveness of the strategy.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8693
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
陈丹; 席宁; 王越超; 李洪谊; 唐旭晟.Event-based Predictive Control Strategy for Teleoperation via Internet.见:IEEE .2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3,NEW YORK,2008,359-364
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