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1、天津大学博士学位论文基于互联网的移动机器人网络控制系统研究姓名：孙启湲申请学位级别：博士专业：机械设计及理论指导教师：彭商贤20040601ABSTRACTTeleroboticsisavalidmethodinspaceexploring,deepseaprospecting,dangerousconditionworkingandothers.WiththedevelopmentofInternettechniqueandincreaseoftransmissionspeedthroughWeb
2、,theinexpensiveconveniencecommunicationapproachisprovidedfortheteleroboticssystems.ApplicationsofteleroboticsarebeingwideroverInternet.Advantagesareshowninsomefieldssuchasremotemedicaltreatment,devicesshareandlongdistanceeducation.Inthispaper,acontrols
3、ystemofmobilerobotviaInternetisstudied.AccordingtothepropertiesofInternet,abrowserbasedmulti-layereddistributedcontrolsystemofmobilerobotisbuiltforexperiment.TransmissiondelayinfluencesthestabilityofInternetbasedcontrolsystemsHowtoreducetheaffectsofthe
4、delayisimportanttothesystems..Basedonthetestandanalysisoftime-delay,thechangerulesandclassificationsonthetime-delayaredeveloped.Theuncertaintyoftime-delayoverInternetisstudied.Finally,thecontrolstrategyandcompensationschemeaccordingtodifferentdelaysare
5、proposed.AsuitablecontrolmodeisgiventouserbasedondelayThehighprecisionoftime-delaycompensatedcanpromoteabilityofcontrolsystemdynamicresponseandguaranteestabilityofsystem.Theresultsoftheoreticanalysisshowthatthestabilityofthesystemdegradessharplywithinc
6、reaceoftime-delay.Theschemeoftime-delaycompensationbasedonSmithpredictorprincipleisproposed.Amethodofparameterregulationonlineisusedtopromotetheprecisionoftime-delaycompensation.Webseverplaysanimportantroleintheremotecontrolsystemforinteractingbetweenr
7、emoteuserandmobilerobot.Inthispaper,intelligentagenttechniqueisintroducedtodesignwebserver.Logicstructureandfunctionofintelligentagentaredesignedtomanageusers,robot,andinformation,etc.Tomeetmulti-layereddistributedsystembasedonInternet,Webcontrolsystem
8、isimplementedusingJ2EEcomponentsbasedonJava,andjoinswithrobotsystemseamlessly.Thesystemiseasytomaintainandextend,andalsoisindependentofoperatingsystem.Atlast,thecontrolsystemistested,theresultsshowthesystemcapacityisstable,andvalidatest
