Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems
文献类型：会议论文
| 作者 | Hua JN(化建宁); Cui YJ(崔玉洁); Wang XZ(王雪竹); Yang FP(阳方平); Yang YH(杨艳华); Li HY(李洪谊)
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| 出版日期 | 2013 |
| 会议名称 | 3rd IFAC Conference on Intelligent Control and Automation Science, ICONS 2013 |
| 会议日期 | September 2-4, 2013 |
| 会议地点 | Chengdu, China |
| 关键词 | Delay control systems Forecasting Intelligent control Jitter Linear regression Pendulums Remote control System stability Time delay |
| 页码 | 497-502 |
| 中文摘要 | The most challenging difficulties for teleoperation systems are well recognized as the Internet uncertain time delays, which might degrade system performance or even lead to system instability. This paper proposes a novel control framework for Internet-based teleoperation systems which is based on the prediction of jitter of Internet one-way time-delay. Internet jitter is predicated based on the sparse multivariate linear regression method. The slave system can be controlled using a virtual system provided at the master site, which is updated according to historical commands transmitted to the slave site and Internet jitter prediction results. The presented control framework is deployed in a virtual inverted pendulum teleoperation system developed. In the experiments, users successfully stabilize the remote virtual pendulum through the Internet, which demonstrate the effectiveness and prospect of the proposed Internet control framework. |
| 收录类别 | EI |
| 产权排序 | 2 |
| 会议主办者 | and Signal Processing; Adaptive and Learning Systems; et al.; IFAC Tech. Committees on: Model., Identif.; IFAC Technical Committees on: Computers for Control; IFAC Technical Committees on: Intell. Autonomous Vehicles; IFAC Technical Committees on: Optimal Control |
| 会议录 | IFAC Proceedings Volumes (IFAC-PapersOnline)
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| 会议录出版者 | IFAC Secretariat |
| 语种 | 英语 |
| ISSN号 | 1474-6670 |
| 源URL | [http://ir.sia.cn/handle/173321/14587]  |
| 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 | Hua JN,Cui YJ,Wang XZ,et al. Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems[C]. 见:3rd IFAC Conference on Intelligent Control and Automation Science, ICONS 2013. Chengdu, China. September 2-4, 2013. |
入库方式： OAI收割
来源：沈阳自动化研究所
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