Stability analysis for Internet based teleoperated robot using prediction control

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	Stability analysis for Internet based teleoperated robot using prediction control
	Chen D(陈丹); Tang XS(唐旭晟); Xi N(席宁); Wang YC(王越超); Li HY(李洪谊)
	2011
会议名称	1st Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 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
通讯作者	陈丹
中文摘要	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.
收录类别	EI
产权排序	1
会议主办者	IEEE; IEEE Robotics and Automation Society; IEEE Nanotechnology Council; Yunan Provincial Science and Technology Department; Kunming University of Science and Technology
会议录	2011 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011
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
内容类型	会议论文
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
推荐引用方式 GB/T 7714	Chen D,Tang XS,Xi N,et al. Stability analysis for Internet based teleoperated robot using prediction control[C]. 见:1st Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011. Kunming, China. March 20-23, 2011.