基于互联网的混合半张量积遥操作系统分析与控制

IF 0.7 4区 物理与天体物理 Q3 COMPUTER SCIENCE, THEORY & METHODS Quantum Information & Computation Pub Date : 2013-01-01 DOI:10.3724/SP.J.1219.2013.00281
Yibin Chen, N. Xi, Hongyi Li, Yuechao Wang
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引用次数: 0

摘要

为了分析基于internet的遥操作系统的混合半张量积模型的稳定性,首先将混合半张量积模型转化为脉冲切换系统,然后对其稳定性进行了讨论。其次,基于混合半张量积参考模型设计了非线性模型预测控制器。在模型预测控制器的时延估计与补偿中,首先将网络时延分成若干部分,然后提出高斯混合、熵最大化跟随无监督学习的时延估计方法,通过该方法对网络时延进行补偿,对远程机器人进行控制。最后进行了实验,实验结果表明,本文提出的方法能够满足基于internet的远程操作系统的要求。
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Analysis and Control on Hybrid Semi-tensor Product Internet-based Teleoperation Systems
In order to analyze the stability of hybrid semi-tensor product model of the Internet-based teleoperation system,it’s first to convert the hybrid semi-tensor product model into an impulse switched system,and then discusses stability.Next a nonlinear model predictive controller is designed based on the hybrid semi-tensor product reference model.In the time delay estimation and compensation for the model predictive controller,the Internet time delay is divided into several parts and then puts forward a Gaussian mixture first,the entropy maximization following unsupervised learning time delay estimation method,by which the time delay is compensated and the remote robot is controlled.At last,an experiment is carried out,and the experimental results show that the method advanced in this paper can meet the requirements of the Internet-based teleoperation system.
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来源期刊
Quantum Information & Computation
Quantum Information & Computation 物理-计算机:理论方法
CiteScore
1.70
自引率
0.00%
发文量
42
审稿时长
3.3 months
期刊介绍: Quantum Information & Computation provides a forum for distribution of information in all areas of quantum information processing. Original articles, survey articles, reviews, tutorials, perspectives, and correspondences are all welcome. Computer science, physics and mathematics are covered. Both theory and experiments are included. Illustrative subjects include quantum algorithms, quantum information theory, quantum complexity theory, quantum cryptology, quantum communication and measurements, proposals and experiments on the implementation of quantum computation, communications, and entanglement in all areas of science including ion traps, cavity QED, photons, nuclear magnetic resonance, and solid-state proposals.
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