非对称时变时滞遥操作系统的加速度反馈控制

2015 IEEE Advanced Information Technology, Electronic and Automation Control Conference (IAEAC) Pub Date : 2015-12-01 DOI:10.1109/IAEAC.2015.7428569

Yuling Li, Yixin Yin

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引用次数: 1

摘要

提出了具有非对称时变时滞的遥操作系统加速度反馈控制方法。主控制器采用加速度反馈，从控制器采用位置误差加阻尼控制器。采用ISS/IOS小增益理论分析闭环系统的稳定性，因此不需要人为操作者和环境的无源假设。仿真结果表明，该遥操作系统运行稳定，主从之间具有良好的跟踪性能。

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Acceleration feedback control for teleoperation systems with asymmetric time-varying delays

Procedure for acceleration feedback control of teleoperation systems with asymmetric time-varying delays is proposed. The acceleration feedback is applied to the master controller, while in the slave side the position error plus damping controller is used. The ISS/IOS small-gain theory is applied to analyze the stability of the closed-loop system, and hence the passivity assumption for the human operator and the environment is not required. Simulation results are presented, which show that the resulting teleoperation system is stable with good tracking performance between the master and the slave.

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2015 IEEE Advanced Information Technology, Electronic and Automation Control Conference (IAEAC)

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