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Article: Analysis and control on hybrid semi-tensor product internet-based teleoperation systems

TitleAnalysis and control on hybrid semi-tensor product internet-based teleoperation systems
Authors
KeywordsMobile robot
Random time delay
Stability analysis
Switched system
Semi-tensor product
Issue Date2013
Citation
Information and Control, 2013, v. 42, n. 3, p. 281-288 How to Cite?
AbstractIn order to analyze the stability of hybrid semi-tensor product model of the Internet-based teleoperation system, it's first to convert the hybrid semi-tensor product model into an impulse switched system, and then discusses stability. Next nonlinear model predictive controller is designed based on the hybrid semi-tensor product reference model. In the time delay estimation and compensation for the model predictive controller, the Internet time delay is divided into several parts and then puts forward a Gaussian mixture first, the entropy maximization following unsupervised learning time delay estimation method, by which the time delay is compensated and the remote robot is controlled. At last, an experiment is carried out, and the experimental results show that the method advanced in this paper can meet the requirements of the Internet-based teleoperation system.
Persistent Identifierhttp://hdl.handle.net/10722/213369
ISSN
2015 SCImago Journal Rankings: 0.110

 

DC FieldValueLanguage
dc.contributor.authorChen, Yibin-
dc.contributor.authorXi, Ning-
dc.contributor.authorLi, Hongyi-
dc.contributor.authorWang, Yuechao-
dc.date.accessioned2015-07-28T04:07:03Z-
dc.date.available2015-07-28T04:07:03Z-
dc.date.issued2013-
dc.identifier.citationInformation and Control, 2013, v. 42, n. 3, p. 281-288-
dc.identifier.issn1002-0411-
dc.identifier.urihttp://hdl.handle.net/10722/213369-
dc.description.abstractIn order to analyze the stability of hybrid semi-tensor product model of the Internet-based teleoperation system, it's first to convert the hybrid semi-tensor product model into an impulse switched system, and then discusses stability. Next nonlinear model predictive controller is designed based on the hybrid semi-tensor product reference model. In the time delay estimation and compensation for the model predictive controller, the Internet time delay is divided into several parts and then puts forward a Gaussian mixture first, the entropy maximization following unsupervised learning time delay estimation method, by which the time delay is compensated and the remote robot is controlled. At last, an experiment is carried out, and the experimental results show that the method advanced in this paper can meet the requirements of the Internet-based teleoperation system.-
dc.languageeng-
dc.relation.ispartofInformation and Control-
dc.subjectMobile robot-
dc.subjectRandom time delay-
dc.subjectStability analysis-
dc.subjectSwitched system-
dc.subjectSemi-tensor product-
dc.titleAnalysis and control on hybrid semi-tensor product internet-based teleoperation systems-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.3724/SP.J.1219.2013.00281-
dc.identifier.scopuseid_2-s2.0-84890382708-
dc.identifier.volume42-
dc.identifier.issue3-
dc.identifier.spage281-
dc.identifier.epage288-

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