中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: GPC scheme for the Internet-based teleoperation
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: International Joint Conference on Neural Networks
会议日期: June 1-8, 2008
会议地点: Hong Kong, China
会议主办者: IEEE
会议录: 2008 IEEE INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1-8
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2008
页码: 1985-1990
收录类别: CPCI(ISTP) ; EI
ISSN号: 1098-7576
ISBN号: 978-1-4244-1820-6
关键词: The variable time delay and the packet loss degrade the performance of Internet based teleoperation system seriously ; even make the system unstable. To overcome the trouble ; an idea that using CARIMA model of the linearized slave robot to design a controller based on the Generalized Predictive Control (GPC) method is proposed in this paper. We place the GPC controller at the remote site. First of all ; The CARIMA model of the linearized slave robot is derived. Secondly ; a GPC controller is designed at slave site to generate the redundant control information to diminish the influence of the packet loss and the large time delay in the internet to the system. Moreover ; in order to solve the problem caused by the variable time delay ; the reference information signed with time stamp is used and fedback to the operator ; so the operator can predict the next round trip time delay(RTT) according to the preceding RTT we got. Finally ; stability condition is achieved. Simulation results show that these strategies can dynamically compensate for the variable time delay and reduce the performance degradation induced by packet loss.
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/173321/8725
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
HYQW000626.pdf(274KB)----开放获取View Download

Recommended Citation:
陈丹; 席宁; 王越超; 李洪谊; 唐旭晟.GPC scheme for the Internet-based teleoperation.见:IEEE .2008 IEEE INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1-8,NEW YORK,2008,1985-1990
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[陈丹]'s Articles
[席宁]'s Articles
[王越超]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[陈丹]‘s Articles
[席宁]‘s Articles
[王越超]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: HYQW000626.pdf
格式: Adobe PDF
此文件暂不支持浏览
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace