A Deadband-Control and Prediction co-design approach for Networked Robotic Systems

摘要：

The cooperation of robotic systems over wireless network results in some challenges, finite network bandwidth, and limited node energy. A novel co-design approach is presented by means of combining deadband-control with dynamic prediction in this paper. To reduce the network traffic and energy consumption, the control packets of Controlling robots are only sent if the response error and error changes are larger than the given deadband threshold. Furthermore, the modified Brown third exponential smoothing prediction is introduced to reconstruct the untransmitted values in Actuating robots, where parameters are dynamically optimized by a modified Particle Swarm Optimization (PSO) algorithm. Finally, the comparative experimental results indicate that the effectiveness and applicability of the proposed approach are very well.

作者: Zhengnan Gao Ronghua Xie Qingwei Chen Weili Hu

作者单位: School of Automation,Nanjing University of Science and Technology,NanJing,210094 CHINA

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2215-2220

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）