Browse > Article
http://dx.doi.org/10.5391/JKIIS.2005.15.4.412

Teleoperation of an Internet-Based Mobile Robot with Network Latency  

Shin, Jik-Su (부경대학교 대학원 전자공학과)
Joo, Moon-Gab (부경대학교 전자컴퓨터정보통신공학부)
Kang, Geun-Taek (부경대학교 전자컴퓨터정보통신공학부)
Lee, Won-Chang (부경대학교 전자컴퓨터정보통신공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.15, no.4, 2005 , pp. 412-417 More about this Journal
Abstract
The Internet has been widely applied to the remote control system. The network-based control system, however, has a random time delay and an inherent weak point of the network, when the data ate transmitted. The network delay may result in performance degradation or even system instability in teleoperation. In this paper a prediction model of network delay using TSK (Takagi-Sugeno-Kang) fuzzy model is presented. An adaptive scheme is developed to update the prediction model according to the current network status. The prediction model is applied to the control of an Internet-based mobile robot to show its usefulness. In the computer simulation the TSK Prediction model of network delay is proven superior to the conventional algorithms.
Keywords
원격 제어;네트워크 지연;퍼지 시스템;지연 예측 알고리즘;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 M. Sugeno and G. Kang, 'Structure Identification of Fuzzy Model', Fuzzy Sets and System, vol. 28, pp. 15-33, 1988   DOI   ScienceOn
2 L. X. Wang, 'Stable adaptive fuzzy control of nonlinear systems,' IEEE Trans. on Fuzzy Systems, vol. 1, no. 2, pp. 146-155, 1993   DOI   ScienceOn
3 김종화, 이원창, 강근택, '퍼지 모델을 이용한 비선형 시스템의 적응 PID 제어기,' 한국퍼지 및 지능시스 템학회 논문지, 제13권, 제1호, pp. 85-90, 2003   DOI
4 J. F. Kurose and K. W. Ross, Computer Networking, Addison Wesley, 2001
5 T. Mirfakhrai and S. Payandeh 'A Delay Prediction Approach for Teleoperation over Internet,' Proc. IEEE International Conference on Robotics and Automation, pp. 2173-2183, 2002
6 R. Oboe and P. Fiorini, 'A design and control environment for Internet-based teleoperation' The international Journal of Robotics Research, vol. 17, No. 4, pp. 433-499, 1998   DOI   ScienceOn
7 T. Takagi, and M. Sugeno, 'Fuzzy identification of systems and Its Applications to Modeling and Control.' IEEE Trans. on SMC, vol. 15, pp. 116-132, 1985
8 I. Elhajj, N. Xi, W.K. Fung, Y. H. Liu, Y. Hasegawa, and T.Fukuda 'Modeling and Control of Internet Based Cooperative Teleoperation,' Proc. IEEE International Conference on Robotics & Automation, vol. 1, pp. 662 -667, 2001
9 Q. P. Wang, D. L. Tan, Ning Xi, and Y. C. Wang, 'The Control Oriented QoS: Analysis and Prediction,' Proc. IEEE International Conference on Robotics and Automation, pp. 1897-1902, 2001