基于圆定理的时滞遥操作非线性力控制实现

Hidetaka Morimitsu, S. Katsura
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引用次数: 2

摘要

通信延迟是双向遥操作系统中存在的主要问题之一,严重影响了系统的性能。本研究将基于加速度的双侧控制(ABC)作为一种基本控制器。分析结果表明,在时滞条件下设计ABC时,存在着动觉接触的可操作性与再现性之间的权衡。针对这一问题,提出了根据双边控制情况调整力控制增益的方法。为了保证非线性控制器控制系统的稳定性,将圆定理应用于所提出的系统。实验结果表明,该系统运行稳定,性能优于恒增益双边控制系统。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Circle theorem-based realization of nonlinear force control for teleoperation under time delay
The communication delay is one of the major problems existing in the bilateral teleoperation system since it largely degrades the performance. This study treats the acceleration-based bilateral control (ABC) as a basic controller. According to the analyses, it is shown that a trade-off between the operationality and the reproduction performance of the kinesthetic contact exists in designing the ABC under time delay. For addressing this, adjustment of the force control gain according to the situations of the bilateral control is proposed. For ensuring the stability of the system with the nonlinear controller, circle theorem is applied to the proposed system. Experimental results show that the proposed system can realize stable operation as well as the improved performance over the bilateral control system with constant gain.
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