摘要
基于Internet的机器人是远距离操作系统,通过网络进行数据传输。网络时延和数据丢包等不确定因素会导致基于Internet的机器人控制性能下降甚至系统的不稳定,针对此问题,提出了一种时延灰色预测的网络优化控制方法。通过对比控制器输出和输入的时间戳来获取系统回路时延,采用较少的时延值建立灰色模型在线预测时延。由于模型参数的不确定性,控制器基于预测的时延值及系统输入输出数据自适应调整模型的参数,并采用改进的广义预测控制算法对远端进行网络预测控制。仿真采用Internet水下机器人单自由度升沉控制模型,通过实验对比说明,针对随机时延及丢包具有较好的补偿控制效果,优化了系统的网络控制性能。
Internet_based telerobot is a long-distance operating system. To solve its problems of network delays and packet lost and improve its control performance, a networked predictive control method based on grey model is proposed. A grey delays model GM（ 1,1 ） is used to prediction next step delay. It＇ s established by a short round-trip -time delay sequence which obtained by comparing the time stamps signed with output and input of controller. An im- proved JGPC based on the predictive delay and adaptive parameters of model calculates optimized control sequence of the Internet based telerobotics in future domain. Simulation results demonstrate that the proposed method can solve the problem of variable delay and the packet loss and improve the telerobotics control performance.
出处
《计算机仿真》
CSCD
北大核心
2016年第1期331-335,共5页
Computer Simulation
基金
武汉科技大学研究生科研创新创业基金(JCX0026)
关键词
网络机器人
灰色模型
预测控制
时延
Internet based Telerobot
Grey model
Predictive control
Delays
