摘要
在基于Internet的遥操作系统中存在时变的通信时延,时变时延会严重影响系统的稳定性和操作性能。本文针对时变的通信时延对系统的影响,将时延变化率建模为系统不确定参数,提出用时间前向观测器预测从机械手的状态,用力、预测的位置和速度反馈消除或减小时延对系统的影响。通过对反馈参数的分析与设计,使整个系统具有鲁棒渐近稳定性。仿真结果表明了该方法的有效性。
There exist time-varying time delays in Internet-based teleoperation systems. The time delays have influence on the stability and operational reliability of teleoperation systems. To overcome the trouble, time forward observer is used to predict the state of the slave. Moreover, force, position and velocity feedback are proposed and the feedback coefficients are determined to ensure that the system is robust asymptotical stable. The results of the simulation show effectiveness of this method.
出处
《湖北汽车工业学院学报》
2004年第3期20-23,31,共5页
Journal of Hubei University Of Automotive Technology
