Generalized predictive control for space teleoperation systems with long time-varying delays
文献类型：会议论文
| 作者 | Yang YH(杨艳华); Yang FP(阳方平) ; Hua JN(化建宁); Li HY(李洪谊)
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| 出版日期 | 2012 |
| 会议名称 | 2012 IEEE International Conference on Systems, Man, and Cybernetics |
| 会议日期 | October 14-17, 2012 |
| 会议地点 | Seoul, Korea |
| 关键词 | long time-varying delays generalized predictive control (GPC) teleoperation multiple degree of freedom (DOF) |
| 页码 | 3051-3056 |
| 中文摘要 | Prior researches of generalized predictive control (GPC) in teleoperation systems have mainly considered short transmitted time delays or single degree of freedom (DOF) manipulators of master and slave. This paper presents a GPC strategy for space teleoperation systems in which the master and slave manipulators are both multi-DOF and the communication network brings long time-varying delays. The nonlinear dynamics of the multi-DOF slave manipulator is linearized and described by a linear state-space equation. Meanwhile, a nonlinear compensator is used to compensate the nonlinear parts of the slave. Then, based on the equation, a state-space model based GPC controller is designed on the master side to stabilize the system and make the slave manipulator track the master position and velocity no matter whether the manipulator contacts with the environment or not. Finally, a simulation example is given to illustrate the effectiveness of the proposed method. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Computer Society |
| 会议录 | Proceedings of the 2012 IEEE International Conference on Systems, Man, and Cybernetics
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4673-1714-6 |
| WOS记录号 | WOS:000316869203031 |
| 源URL | [http://ir.sia.cn/handle/173321/10201]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Yang YH,Yang FP,Hua JN,et al. Generalized predictive control for space teleoperation systems with long time-varying delays[C]. 见:2012 IEEE International Conference on Systems, Man, and Cybernetics. Seoul, Korea. October 14-17, 2012. |
入库方式： OAI收割
来源：沈阳自动化研究所
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