MDL-based control method for mobile robot with randomly varying time-delay

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	MDL-based control method for mobile robot with randomly varying time-delay
	Hua JN(化建宁); Li HY(李洪谊); Wang YC(王越超); Xi N(席宁)
	2011
会议名称	2011 IEEE International Conference on Robotics and Automation
会议日期	May 9-13, 2011
会议地点	Shanghai, China
页码	1772-1777
中文摘要	Robotic teleoperation constitutes a key technique for networked manufacturing system. Since Internet is noisy and performance of telerobotic systems strongly depends on communication conditions, control strategies which could be used to distribute computation and communication resource properly and require less data transmission are required. Motion description language (MDL) is an appropriate solution. In this paper, comparison study between MDL-based and the traditional direct control method under randomly varying time-delay condition has been pursued which show that the MDL-based method has the ability to guarantee the stability of the whole telerobotic system under randomly varying time-delay condition. Furthermore, MDL-based method provides an uniform mathematical description on discrete control on the master site and continuous execution on the slave site. Simulation results indicate that the proposed method is promising for Networked Manufacturing development.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议主办者	IEEE Robotics Autom. Soc.
会议录	2011 IEEE International Conference on Robotics and Automation
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	1050-4729
ISBN号	978-1-61284-386-5
WOS记录号	WOS:000324383400146
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8768]
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,Li HY,Wang YC,et al. MDL-based control method for mobile robot with randomly varying time-delay[C]. 见:2011 IEEE International Conference on Robotics and Automation. Shanghai, China. May 9-13, 2011.