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Virtual System Calibration Based on Jitter Prediction of Internet Time-delay for Teleoperation Systems

Virtual System Calibration Based on Jitter Prediction of Internet Time-delay for Teleoperation Systems

Authors :
Yanhua Yang
Xuezhu Wang
Yujie Cui
Hongyi Li
Fangping Yang
Jianning Hua
Source :
ICONS
Publication Year :
2013
Publisher :
Elsevier BV, 2013.

Abstract

The most challenging difficulties for teleoperation systems are well recognized as the Internet uncertain time delays, which might degrade system performance or even lead to system instability. This paper proposes a novel control framework for Internet-based teleoperation systems which is based on the prediction of jitter of Internet one-way time-delay. Internet jitter is predicated based on the sparse multivariate linear regression method. The slave system can be controlled using a virtual system provided at the master site, which is updated according to historical commands transmitted to the slave site and Internet jitter prediction results. The presented control framework is deployed in a virtual inverted pendulum teleoperation system developed. In the experiments, users successfully stabilize the remote virtual pendulum through the Internet, which demonstrate the effectiveness and prospect of the proposed Internet control framework.

Details

ISSN :
14746670
Volume :
46
Database :
OpenAIRE
Journal :
IFAC Proceedings Volumes
Accession number :
edsair.doi...........6e2b1c6e32fa594dde8406d53623be7c
Full Text :
https://doi.org/10.3182/20130902-3-cn-3020.00061