基于LMI鲁棒PID控制器的遥操作系统双边控制

A. Roushandel, A. Khosravi, A. Alfi
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引用次数: 3

摘要

通信信道的时延和远程操作系统各部分的不确定性是影响远程操作系统稳定性和性能的主要因素。本文提出了一种基于线性矩阵不等式(LMI)方法建立鲁棒PID控制器的新方法。尽管存在上述不稳定的来源,这些控制器必须确保系统的稳定性和性能。所提出的方法需要两个控制器:一个用于称为从控制器的从站点,另外一个用于主站点中的主控制器。本地从控制器负责运动跟踪。同时,主控制器负责力跟踪,以及整个系统的稳定。采用基于lmi的H∞理论,建立了两个局部PIP控制器以满足设计目标。应用所提出的结构为双边远操作系统提供了一种信号传输次数最少的控制方案。此外,基于lmi的方法提高了相关凸优化问题在控制设计过程中应用于广泛的加权函数的可行性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Bilateral control of teleoperation systems via robust PID controllers based on LMI
Time-delay in communication channels and uncertainty in different parts of the teleoperation systems are considered to be a major group of destructive factors in stability and performance of these systems. This paper suggests a new method based on a Linear Matrix Inequality (LMI) approach to establish robust PID controllers. The stability and performance of the system must be ensured by these controllers in spite of mentioned sources of instability. The proposed method requires two controllers: one for the slave site called slave controller in addition to a master controller in the master site. The local slave controller is in charge of motion tracking. Simultaneously, the master controller is responsible for force tracking, as well as stabilizing of the overall system. Both of the local PIP controllers are established to meet objectives of the design via employing the LMI-based H∞ theory. Applying the proposed structure provides a control scheme for bilateral teleoperation systems with the lowest number of signal transmission. Additionally an LMI-based approach raises the feasibility of the related convex optimization problems using in control design procedure for a wide range of weighting functions.
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