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GPC scheme for the Internet-based teleoperation
Chen D(陈丹); Xi N(席宁); Wang YC(王越超); Li HY(李洪谊); Tang XS(唐旭晟)
Department机器人学研究室
Conference NameInternational Joint Conference on Neural Networks
Conference DateJune 1-8, 2008
Conference PlaceHong Kong, China
Author of SourceIEEE
Source Publication2008 IEEE INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1-8
PublisherIEEE
Publication PlaceNEW YORK
2008
Pages1985-1990
Indexed ByEI ; CPCI(ISTP)
EI Accession number20084811736868
WOS IDWOS:000263827201066
Contribution Rank1
ISSN1098-7576
ISBN978-1-4244-1820-6
KeywordThe 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8725
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.College of Electrical Engineering and Automation, Fuzhou University, Fuzhou,350002, China
3.Graduate University, Chinese Academy of Sciences, Beijing, China
4.Department of Electrical Engineering, Michigan State University, East Lansing, MI 48824-1226, United States
5.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
Recommended Citation
GB/T 7714
Chen D,Xi N,Wang YC,et al. GPC scheme for the Internet-based teleoperation[C]//IEEE. NEW YORK:IEEE,2008:1985-1990.
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