数学
A Unified Predictive Display Scheme for Teleoperation Systems with Multi-time-delay Multi-rate Measurements and Missing Data
2017-07-26
Predictive display is a promising approach to tackle large time delays that greatly degrade the performance of teleoperation systems.In this paper,a unified predictive display scheme is proposed to deal with multi-time-delay multi-rate measurements and missing data,which is applicable for real systems.Firstly,a formal description of predictive display problem is introduced.Next the method principle is presented:through an equivalent transformation the original problem is converted into a standard filter problem and a prediction problem,which can be tackled by an observer-predictor structure;then the re-organized innovation analysis is utilized in the observer and is extended to deal with multi-time-delay multi-rate measurements as well as missing data with the help of indication functions.Finally simulations show the effectiveness of this approach.
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数学
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第36届中国控制会议论文集(E)
2017年
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