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Conference Paper: Stability analysis for Internet based teleoperated robot using prediction control

TitleStability analysis for Internet based teleoperated robot using prediction control
Authors
KeywordsStability
Event-prediction
Variblae time delay
Generalized Predictive Control
Teleoperated robot
Issue Date2011
Citation
2011 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011, 2011, p. 138-143 How to Cite?
AbstractThe 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. © 2011 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/213202

 

DC FieldValueLanguage
dc.contributor.authorChen, Dan-
dc.contributor.authorTang, Xusheng-
dc.contributor.authorXi, Ning-
dc.contributor.authorWang, Yuechao-
dc.contributor.authorLi, Hongyi-
dc.date.accessioned2015-07-28T04:06:30Z-
dc.date.available2015-07-28T04:06:30Z-
dc.date.issued2011-
dc.identifier.citation2011 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011, 2011, p. 138-143-
dc.identifier.urihttp://hdl.handle.net/10722/213202-
dc.description.abstractThe 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. © 2011 IEEE.-
dc.languageeng-
dc.relation.ispartof2011 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011-
dc.subjectStability-
dc.subjectEvent-prediction-
dc.subjectVariblae time delay-
dc.subjectGeneralized Predictive Control-
dc.subjectTeleoperated robot-
dc.titleStability analysis for Internet based teleoperated robot using prediction control-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/CYBER.2011.6011780-
dc.identifier.scopuseid_2-s2.0-80053169894-
dc.identifier.spage138-
dc.identifier.epage143-

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