Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2002.11c
- /
- Pages.150-153
- /
- 2002
The Adaptive Control for the Teleoperated Mobile Robot through the Wireless LAN
이동로봇의 무선 원격조정을 위한 적응제어
- Shim, Kyo-Man (School of Electrical Engineering, Ulsan University) ;
-
Hong, Hyun-Ju
(School of Electrical Engineering, Ulsan University)
;
- Kwon, Seok-Geun (School of Electrical Engineering, Ulsan University) ;
-
Ro, Young-Shick
(School of Electrical Engineering, Ulsan University)
- 심교만 (울산대학교 전기전자정보시스템공학부) ;
-
홍현주
(울산대학교 전기전자정보시스템공학부)
;
- 권석근 (울산대학교 전기전자정보시스템공학부) ;
-
노영식
(울산대학교 전기전자정보시스템공학부)
- Published : 2002.11.30
Abstract
When a system is teleoperated in the indoor environment through the wireless LAN, we must consider the communication time delay. The time delay is random and unbounded due to the inherent characteristic and surrounding environment. As result of this, the stability and performance of the teleoperated system is degraded. In this paper, we present the adaptive control algorithm to overcome this problem by measuring time delay and allocating task corresponding to time delay dynamically. And the simple experiment is conducted to demonstrate the feasibility.
Keywords