Stability analysis for Internet based teleoperated robot using prediction control
文献类型：会议论文
| 作者 | Chen D(陈丹); Tang XS(唐旭晟); Wang YC(王越超) ; Li HY(李洪谊)
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| 出版日期 | 2011 |
| 会议日期 | March 20-23, 2011 |
| 会议地点 | Kunming, China |
| 关键词 | Teleoperated Robot Variblae Time Delay Stability Event-prediction Generalized Predictive Control |
| 页码 | 138-143 |
| 英文摘要 | The variable time delay and the packet loss degrade the performance of Internet based teleoperation system seriously, even make the system unstable. Building upon the results of our recent work in [1], a provably stable event-prediction based control strategy is proposed for variable delay teleoperation. A Path Governor(PG) at master site, Generalized Predictive Controller (GPC) at slave site and a model of variable delay within a predictive control frame work are used to improve the response transparence. A Sparse Multivariable Linear Regression (SMLR) algorithm is proposed to predict the next Round Trip Timedelay(RTT). According to the next RTT, the PG is designed to generate the future event which can be used to compute the robotic position that is the one when the command was transmitted to the slave robot. The GPC can generate the redundant control information to diminish the influence of the packet loss and the large time delay in the internet to the system. Finally, a Lypunov-based analysis of the performance and stability of the resulting system is presented. Experiment results with a wheeled robot teleoperation setup demonstrate that these strategies can dynamically compensate for the variable time delay and reduce the performance degradation induced by packet loss. |
| 源文献作者 | IEEE; IEEE Robotics and Automation Society; IEEE Nanotechnology Council; Yunan Provincial Science and Technology Department; Kunming University of Science and Technology |
| 产权排序 | 1 |
| 会议录 | 2011 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011
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| 会议录出版者 | IEEE Computer Society, 445 Hoes Lane - P.O.Box 1331, Piscataway, NJ 08855-1331, United States |
| 会议录出版地 | Piscataway, NJ |
| 语种 | 英语 |
| ISBN号 | 978-1-61284-910-2 |
| 源URL | [http://ir.sia.cn/handle/173321/20066]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Chen D(陈丹) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China 2.School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China |
| 推荐引用方式 GB/T 7714 | Chen D,Tang XS,Wang YC,et al. Stability analysis for Internet based teleoperated robot using prediction control[C]. 见:. Kunming, China. March 20-23, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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