摘要
In this paper, robust networked control is investigated for remote motion/force control of robotic manipulators with random time delays. Both sensor-to-controller and controller-to-actuator random network-induced delays are considered in the remote networked control. These random-network-induced delays are modeled as Markov processes. Based on the stochastic Lyapunov method, sufficient conditions for the boundedness in probability of the system solutions are given. It is proven that all the signals of the the robotic manipulator system are bounded in probability. Finally, the extensive experiments are performed to show the effectiveness of the proposed method.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | Proceedings of the 31st Chinese Control Conference, CCC 2012 |
| 页 | 2786-2791 |
| 页数 | 6 |
| 出版状态 | 已出版 - 2012 |
| 已对外发布 | 是 |
| 活动 | 31st Chinese Control Conference, CCC 2012 - Hefei, 中国 期限: 25 7月 2012 → 27 7月 2012 |
出版系列
| 姓名 | Chinese Control Conference, CCC |
|---|---|
| ISSN（印刷版） | 1934-1768 |
| ISSN（电子版） | 2161-2927 |
会议
| 会议 | 31st Chinese Control Conference, CCC 2012 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Hefei |
| 时期 | 25/07/12 → 27/07/12 |
指纹
探究 'Robust control of holonomic constrained robotic manipulators with stochastic time delays' 的科研主题。它们共同构成独一无二的指纹。引用此
Li, Z., Kang, Y., Cao, X., & Zhai, D. (2012). Robust control of holonomic constrained robotic manipulators with stochastic time delays. 在 Proceedings of the 31st Chinese Control Conference, CCC 2012 (页码 2786-2791). 文章 6390397 (Chinese Control Conference, CCC).