Generalized Predictive Control Scheme for the Internet-based Telerobot Control System

摘要

The variable time delay and the packet loss in the Internet degrade seriously the performance of Internet based teleoperation system, and even make the system unstable. To overcome this problem, a novel control architecture of the Internet-based teleoperation system is proposed. The reference information signed with time stamp at master site is transmitted to the slave site and then feeds back to the operator, so the operator can get the round-trip-timedelay (RTT) and then predict the next RTT making use of the multivariate linear regression algorithm to analyze the preceding RTT which has been got. A generalized predictive control (GPC) strategy using CARIMA model of the lineared slave robot is designed at slave site to control the telerobot. Consequently, the operation performance of the system is improved by using this method. Simultaneously, the GPC controller generates the redundant control information which can diminish the influence of the packet loss and the large time delay in the Internet to the system. Finally, stability condition is deduced according to the predictive stability theorem. Simulation results show that these strategies can solve efficiently the problem caused by the variable time delay and the packet loss.