Intelligent Networked Teleoperation Control
This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and coo
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elligent Networked Teleoperation Control
Intelligent Networked Teleoperation Control
Zhijun Li Yuanqing Xia Chun-Yi Su •
•
Intelligent Networked Teleoperation Control
123
Zhijun Li South China University of Technology Guangzhou China
Chun-Yi Su Concordia University Montreal, QC Canada
Yuanqing Xia School of Automation Beijing Institute of Technology Beijing China
ISBN 978-3-662-46897-5 DOI 10.1007/978-3-662-46898-2
ISBN 978-3-662-46898-2
(eBook)
Library of Congress Control Number: 2015936623 Springer Heidelberg New York Dordrecht London © Springer-Verlag Berlin Heidelberg 2015 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper Springer-Verlag GmbH Berlin Heidelberg is part of Springer Science+Business Media (www.springer.com)
Preface
This book describes a unifying framework to networked teleoperation systems cutting across multiple research fields including networked control system for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation, cooperative teleoperation, and some teleoperation application examples. Networked control has been deeply studied at the intersection of systems & control and robotics for a long time, and many scholarly books on the topic have been already published. Nevertheless, the approach remains active even in several new research fields, such as bilateral teleoperation, single master and multiple slaves, trilateral teleoperation, and multilateral teleoperation. Indeed, all the targeted problems of this book are rather new from a historical point of view and, to the best of our knowledge, there is no book or article covering such a broad class of problems within a unified teleoperation framework. Although networked teleoperation control and applications have attracted much research attention in the past decade, many fundamental problems are still either unexplored or less well understood. In particular, there still lacks a comprehensive framework that can cope w
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