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Event-based Predictive Control Strategy for Teleoperation via Internet
Chen D(陈丹); Xi N(席宁); Wang YC(王越超); Li HY(李洪谊); Tang XS(唐旭晟)
Conference NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics
Conference DateJuly 2-5, 2008
Conference PlaceXIan, China
Author of SourceIEEE
Publication PlaceNEW YORK
Indexed ByEI ; CPCI(ISTP)
EI Accession number20084011617533
WOS IDWOS:000260084300063
Contribution Rank1
KeywordPath Governor Global Predictive Control Teleoperation Event-based Control
AbstractThe 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.
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Document Type会议论文
Corresponding AuthorChen D(陈丹)
Affiliation1.Robotics Laboratory, Chinese Academy of Sciences, Shenyang Institute of Automation(SIA), Shenyang,Liaoning province, China
2.School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, Fujian province, China
3.Graduate School, Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Chen D,Xi N,Wang YC,et al. Event-based Predictive Control Strategy for Teleoperation via Internet[C]//IEEE. NEW YORK:IEEE,2008:359-364.
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