Journal of South China University of Technology (Natural Science Edition) ›› 2006, Vol. 34 ›› Issue (1): 73-76.

• Electronics, Communication & Automation Technology • Previous Articles     Next Articles

Control of Internet-Based TeIe0perati0ns for Robot via Hybrid Dynamic System

You Lin-ru  Wang Qing-yang   

  1. College of Automatic Science and Engineering,South China Univ.ot‘Tech.,Guangzhou 510640,Guangdong,China
  • Received:2004-10-13 Online:2006-01-25 Published:2006-01-25
  • Contact: 游林儒(1956-)，男，教授，主要从事电力电子技术及网络控制方面的研究 E-mail:aulryou@scut.edu.cn
  • About author:游林儒(1956-)，男，教授，主要从事电力电子技术及网络控制方面的研究
  • Supported by:

    广东省博士启动基金资助项目(5300181)

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Abstract:

During the teleoperation of a robot via Internet,an operator cannot correctly and duly obtain real-time data due to the uncertain time delay in the Internet-based communication,So the state of a robot cannot be efec-tively controlled.To get out of the trouble,this paper is oncentrated on the modeling and control of Internet.based teleoperation system of robot by using the hybrid dynamic system approach,and proposes a supervisory control method,which solves the problem of uncertain time delay by setting a supervisory controller on the robot.The validity of this method is verified by experimental results.

Key words: robot, Internet-based teleoperation, hybrid dynamic system, supervisory controller, network control system