基于预测方法的网络虚拟倒立摆平衡

Jianning Hua, Yujie Cui, Xuezhu Wang, F. Yang, Yanhua Yang
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引用次数: 2

摘要

基于对网络单向时延抖动的预测,提出了一种通过网络实现虚拟倒立摆平衡的方法。采用稀疏多元线性回归方法对网络时延抖动进行预测。远程虚拟摆可以通过在主站屏幕上显示一个相同的虚拟摆模型来控制,该虚拟摆模型根据发送到从站的历史命令和Internet抖动预测结果进行更新。在实验中,操作人员成功地通过互联网实现了远程虚拟摆的平衡,验证了所提出的基于互联网的控制方法的有效性和前景。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Balancing of a virtual inverted pendulum through Internet based on prediction method
This paper proposes a method for balancing a virtual inverted pendulum through Internet based on the prediction of jitter of Internet one-way time delay. The sparse multivariate linear regression method is used to give prediction on Internet time delay jitter. The remote virtual pendulum can be controlled with an identical virtual pendulum model displayed on the screen of the master site, which is updated according to historical commands transmitted to the slave site and Internet jitter prediction results. In the experiments, operators succeed in balancing the remote virtual pendulum through the Internet, which demonstrate the effectiveness and prospect of the proposed Internet based control method.
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