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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.
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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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