Balancing of a virtual inverted pendulum through Internet based on prediction method

Abstract

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.