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author:

Chen, Dan (Chen, Dan.) [1] (Scholars:陈丹) | Xi, Ning (Xi, Ning.) [2] | Wang, Yue-Chao (Wang, Yue-Chao.) [3] | Li, Hong-Yi (Li, Hong-Yi.) [4] | Tang, Xu-Sheng (Tang, Xu-Sheng.) [5]

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EI Scopus PKU CSCD

Abstract:

We propose a new event-based predictive control strategy that not only ensures the system stability but also makes the teleoperation system adapt to environmental changes and deal with the burst incident. Thus, it improves the performance of the teleoperation system. At the master site, a Round-Trip-Timedelay-predictor-based Path Governor is designed to generate a suitable predictive event for improving the tracking performance, and dealing with environmental changes and the burst of events. At the slave site, a Global Predictive Control controller is designed, which generates the redundant control information to reduce the influence of the packet loss and the large time-delay of the internet, so as to improve the robust stability and the operation performance. Simulations and results demonstrate the effectiveness of the strategy.

Keyword:

Delay control systems Governors Predictive control systems Remote control System stability

Community:

  • [ 1 ] [Chen, Dan]State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang Liaoning 110016, China
  • [ 2 ] [Chen, Dan]School of Electrical Engineering and Automation, Fuzhou University, Fuzhou Fujian 350002, China
  • [ 3 ] [Chen, Dan]Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
  • [ 4 ] [Xi, Ning]State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang Liaoning 110016, China
  • [ 5 ] [Wang, Yue-Chao]State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang Liaoning 110016, China
  • [ 6 ] [Li, Hong-Yi]State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang Liaoning 110016, China
  • [ 7 ] [Tang, Xu-Sheng]State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang Liaoning 110016, China

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Source :

Control Theory and Applications

ISSN: 1000-8152

CN: 44-1240/TP

Year: 2010

Issue: 5

Volume: 27

Page: 623-626

Cited Count:

WoS CC Cited Count: 0

SCOPUS Cited Count:

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 2

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