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GPC scheme for the Internet-based teleoperation 会议论文
2008 IEEE INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1-8, Hong Kong, China, June 1-8, 2008
Authors:  Chen D(陈丹);  Xi N(席宁);  Wang YC(王越超);  Li HY(李洪谊);  Tang XS(唐旭晟)
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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.