Generalized Predictive Control for Space Teleoperation Systems with Long Time-varying Delays

被引:0
作者
Yang, Yanhua [1 ,2 ,3 ]
Yang, Fangping [1 ,3 ]
Hua, Jianning [4 ]
Li, Hongyi [1 ]
机构
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
[2] Quanzhou Normal Univ, Coll Appl Sci & Technol, Quanzhou, Peoples R China
[3] Chinese Acad Sci, Grad Sch, Beijing, Peoples R China
[4] Northeastern Univ, Shenyang, Peoples R China
来源
PROCEEDINGS 2012 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) | 2012年
关键词
long time-varying delays; generalized predictive control (GPC); teleoperation; multiple degree of freedom (DOF); BILATERAL TELEOPERATION; INTERNET;
D O I
暂无
中图分类号
TP3 [计算技术、计算机技术];
学科分类号
0812 ;
摘要
Prior researches of generalized predictive control (GPC) in teleoperation systems have mainly considered short transmitted time delays or single degree of freedom (DOF) manipulators of master and slave. This paper presents a GPC strategy for space teleoperation systems in which the master and slave manipulators are both multi-DOF and the communication network brings long time-varying delays. The nonlinear dynamics of the multi-DOF slave manipulator is linearized and described by a linear state-space equation. Meanwhile, a nonlinear compensator is used to compensate the nonlinear parts of the slave. Then, based on the equation, a state-space model based GPC controller is designed on the master side to stabilize the system and make the slave manipulator track the master position and velocity no matter whether the manipulator contacts with the environment or not. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.
引用
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页码:3057 / 3062
页数:6
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