%0 Journal Article
%T Event-based predictive control strategy for teleoperation via internet<br>网络遥操作系统中基于事件的预测控制策略
%A CHEN Dan
%A XI Ning
%A WANG Yue-chao
%A LI Hong-yi
%A TANG Xu-sheng
%A <br>陈丹
%A 席宁
%A 王越超
%A 李洪谊
%A 唐旭晟
%J 控制理论与应用
%D 2010
%I 
%X 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.
%K path governor
%K global predictive control
%K teleoperation
%K event-based control<br>路径管理器
%K 广义预测控制
%K 遥操作
%K 基于事件的控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=40A41C7E18F3B6BC04B31D2372BDD0E9&yid=140ECF96957D60B2&vid=DB817633AA4F79B9&iid=94C357A881DFC066&sid=F8AEC975DBDD7F2F&eid=C824C8F9F54AE9B9&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=9