检索结果-内蒙古大学图书馆

real-time mobile robot teleoperation via internet based on predictive control

中国高等学校学术文摘·机械工程 2008年第3期3卷 299-306页

作者： Shihua WANG Bugong XU YunHui LIU Yeming ZHOU Laboratory of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China Naval Arms Command Academy of Guangzhou Guangzhou 510430 China Laboratory of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China Naval Arms Command Academy of Guangzhou Guangzhou 510430 China Department of Automation and Computer Aided Engineering The Chinese University of Hong Kong Shatin N.T. HK China

A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on the information exchange between the sensors at the mas-ter and slave sides. To precisely predict the time delay, a new timer synchronization algorithm is proposed. To decrease delay- jitter, a new data buffer scheme is per-formed. Force feedback and a virtual predictive display are introduced to enhance the real-time efficiency of tele-operation. The usefulness and effectiveness of the pro-posed method and system are proven by teleoperation experiments via the internet over a long distance.

关键词： teleoperation internet robots predictive con-trol delay algorithm

来源：评论

学校读者我要写书评

暂无评论

Review of the remote-control theories and methods for internet-based robots

引用

Kongzhi Lilun Yu Yingyong/control Theory and Applications 2008年第5期25卷 873-878页

作者： Wang, Shi-Hua Xu, Bu-Gong Liu, Yun-Hui Xi, Ning Laboratory of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Shenyang Institute of Automation Chinese Acad. of Sci. Shenyang 110016 China

This review describes the system models and the three key problems to be concerned with. They are the stability, transparence and network delay process. It also elaborates on the four main techniques for stability analysis, which are Lyapunov stability, input-output stability, passivity and event-based stability. Their advantages and restrictions are summarized. Various control schemes are briefly reviewed. Future trends of development are indicated.

关键词： Remote control

来源：评论

学校读者我要写书评

暂无评论

Exponential Stability of Linear Systems with Multiple time-varying Delays

引用

自动化学报 2007年第12期33卷 1294-1299页

作者： XU Bu-Gong Laboratory of Real-Time Control through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou 510640 P. R. China

为一般延迟的动态系统和二个初步的词根基于确定的新型的指数的稳定性定理，为有多重变化时间的延期的线性系统的不太保守的稳定性条件被使用 Lyapunov 的新稳定性分析途径建立函数。不同于在文学的一些结果，任何一个都不确定的结果取... 详细信息

为一般延迟的动态系统和二个初步的词根基于确定的新型的指数的稳定性定理，为有多重变化时间的延期的线性系统的不太保守的稳定性条件被使用 Lyapunov 的新稳定性分析途径建立函数。不同于在文学的一些结果，任何一个都不确定的结果取决于变化时间的延期的衍生物。因此，结果对有很快的变化时间的延期的盒子合适。一个例子被提供证明获得的稳定性条件比在文学基于标准 Razumikhin 类型条件直接获得的好。

关键词：线性系统指数稳定性稳定性定理动力系统时间变化迟滞

来源：评论

学校读者我要写书评

暂无评论

On end-to-end network clock offset compensation algorithm and its implementation

On end-to-end network clock offset compensation algorithm an...

引用

26th Chinese control Conference, CCC 2007

作者： Yunyi, Jia Bugong, Xu Shihua, Wang Buchun, Liu Lab. of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China Univ.of Technology Guangzhou 510640 China Lab. of Pattern Recognition and Intelligent System College of Information Engineering Beijing Univ. of Posts and Telecommunications Beijing 100876 China

ISBN: (纸本)7900719229

This paper addresses the problem of clock offset in end-to-end network time synchronization. Firstly, an algorithm for measuring the end-to-end clock offset is proposed. Secondly, the traditional linear-compensation method is analyzed and an algorithm to obtain the compensation line using least-squared algorithm is proposed. Finally, a new method of dynamic non-linear predicting compensation and its realization algorithm are proposed. through experiments, it shows that the method of dynamic non-linear predicting compensation could compensate clock offset better than linear-compensation method. The superiority, validity and feasibility of the new method are proved.

关键词： Nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

Optimal scheduling of the sensor network based on the CANopen protocol

Optimal scheduling of the sensor network based on the CANope...

引用

2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006

作者： Junbo, Wang Bugong, Xu Qingyang, Wang Laboratory of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou Guangdong China

ISBN: (纸本)1424404665

The CANopen protocol based on embedded control applications has been widely applied into networked control systems. The jitter problem of system variables induced by the network transmission becomes a primary aspect of the current research on networked control systems. To reduce the jitter of system variables, the genetic algorithm is introduced to optimize the synchronous message scheduling based on the CANopen transmission feature. The message scheduling is implemented using the application hardware. The response time of messages can be measured and tested using the CANalyzer. Based on the practical application, the optimal scheduling algorithm is validated. The result shows that the jitter problem in this network can be effectively reduced. ©2006 IEEE.

关键词： Sensor networks

来源：评论

学校读者我要写书评

暂无评论

Guaranteed cost control analysis of a class of networked control systems

Guaranteed cost control analysis of a class of networked con...

引用

6th World Congress on Intelligent control and Automation, WCICA 2006

作者： Junbo, Wang Bugong, Xu Qingyang, Wang Laboratory of Real-Time Control through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

ISBN: (纸本)1424403324

CANopen is a fleldbus protocol based on the controller area network (CAN). This paper analyzes guaranteed cost control of a class of networked control systems accordant with the CANopen protocol. The timing of this system is analyzed. In terms of its characteristic, delay produced by the network is discussed. This system can be modeled as an uncertain discrete-time system. In terms of the network-induced delay and the system model, the delayed state feedback controller is designed. Guaranteed cost control of this system is also discussed. The condition to meet a certain cost function is proposed. © 2006 IEEE.

关键词： Intelligent control

来源：评论

学校读者我要写书评

暂无评论

Guaranteed Cost control Analysis of a Class of Networked control Systems

Guaranteed Cost Control Analysis of a Class of Networked Con...

引用

World Congress on Intelligent control and Automation (WCICA)

作者： Junbo Wang Bugong Xu Qingyang Wang The Laboratory of Real-Time Control through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou China

CANopen is a fieldbus protocol based on the controller area network (CAN). This paper analyzes guaranteed cost control of a class of networked control systems accordant with the CANopen protocol. The timing of this system is analyzed. In terms of its characteristic, delay produced by the network is discussed. This system can be modeled as an uncertain discrete-time system. In terms of the network-induced delay and the system model, the delayed state feedback controller is designed. Guaranteed cost control of this system is also discussed. The condition to meet a certain cost function is proposed

关键词： Costs control systems control system analysis Networked control systems Communication system control Automatic control Protocols real time systems Timing Delay systems

来源：评论

学校读者我要写书评

暂无评论

Applications of a New-Type Stability Theorem

Applications of a New-Type Stability Theorem

引用

World Congress on Intelligent control and Automation (WCICA)

作者： Bugong Xu The Laboratory of Real-Time Control through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou China

Based on the author's previous work in the literature, a new-type stability theorem for general retarded dynamical systems is presented. After three preliminary lemmas are established, linear systems with multiple time-varying delays are considered to show the applications of the new-type stability theorem and the proposed new stability analysis technique. The delay-independent and delay-dependent stability criteria are established for the systems under consideration, respectively. Unlike some results in the literature, all of the established results do not depend on the derivatives of time-varying delays. Therefore, the established results are suitable for the cases with very fast time-varying and bounded delays

关键词： Stability analysis Linear systems time varying systems Stability criteria Lyapunov method Automatic control internet Automation Delay systems time domain analysis

来源：评论

学校读者我要写书评

暂无评论

A new exponential stability criterion for polytopic systems

A new exponential stability criterion for polytopic systems

引用

6th World Congress on Intelligent control and Automation, WCICA 2006

作者： Hou, Xiaoli Xu, Bugong Zhang, Huanshui Lab. of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China Univ. of Technology Guangzhou 510640 China Shenzhen Graduate School of HIT HIT Campus Shenzhen University Shenzhen Guangdong Province China

ISBN: (纸本)1424403324

Based on a new type exponential stability theorem, a new sufficient exponential stability criterion for polytopic systems is established in this note. For polytopic uncertainty, two algorithms for searching appropriate matrix are proposed. Two examples are considered to show that these approaches are better than other criteria under consideration. © 2006 IEEE.

关键词： Asymptotic stability

来源：评论

学校读者我要写书评

暂无评论

Gain Adaptive Smith Predictor for Congestion control in Robust Active Queue Management

Gain Adaptive Smith Predictor for Congestion Control in Robu...

引用

World Congress on Intelligent control and Automation (WCICA)

作者： Shaohua Xiang Bugong Xu Sai Wu Dazhou Peng Laboratory of Real-Time Control through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou Guangdong China

Active queue management (AQM) policies provide an early indication of incipient congestion to the source. In this paper, in terms of Lyapunov asymptotic stability principle, a robust AQM algorithm based on the gain adaptive Smith predictor and PI controller (GAS-PI algorithm) is designed by using the linearized TCP model with time delays. With the simple structure, good robustness and better performance, the proposed algorithm overcomes the negative impact on the queue stability caused by a large delay. It is illustrated by extensive and propound simulations that: (i) the transient response of GAS-PI outperforms that of the other AQM schemes when the traffic load changes dynamically; (ii) the promising performance of GAS-PI holds up in the case of more realistic network scenarios; (iii) the better dynamic performance of GAS-PI is still maintained in a large-delay condition; (iv) the performance of GAS-PI is less sensitive to changes in system parameters, hence GAS-PI works well for a wide range of system parameters

关键词： Programmable control Adaptive control Robust control Robust stability Asymptotic stability Algorithm design and analysis Predictive models Delay effects Transient response Telecommunication traffic

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：