摘要
利用移动机器人对未知的人类难以到达的环境进行远程作业具有深刻的现实意义。无线局域网(WLAN)的引入,也给远程控制系统带来了新的挑战,如网络本身固有的一些特点———变时延和丢包。本文就针对这些特点,进行了详细的分析。并就时延造成的系统稳定性和动作同步问题进行了探讨,从理论上分析了一种基于事件参考的控制方法,并在基于WLAN的远程控制系统平台上实现了这种控制方法。
It is profound practical meaning using the mobile robot to carry out the teleoperation in the unknown environment where man is difficult to arrive at. With the application of Wireless LAN in the remote control system, there are some new challenges, such as time varying delay and lost packets. This paper analyzes detailedly these limitations, and studies the stability and the action synchronization of the system with random time -delay. A novel control approach is presented in this paper. The approach is based on event- based reference control, which was implemented on a mobile robot based on Wireless LAN.
出处
《长春理工大学学报（自然科学版）》
2006年第1期72-75,共4页
Journal of Changchun University of Science and Technology(Natural Science Edition)
基金
国家863重点课题资助项目(2002AA755024)
关键词
无线局域网
变时延
基于事件参考
稳定性
同步
WLAN
time varying delay
event - based reference
stability
synchronization
