| 引用本文: | 鉴萍,李歧强.变时延力反馈遥操作机器人系统的内模控制[J].控制理论与应用,2007,24(1):13~18.[点击复制] |
| JIAN Ping, LI Qi-qiang.Internal model control forforce-reflecting teleoperation systems with varyingtime-delay[J].Control Theory and Technology,2007,24(1):13~18.[点击复制] |
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| 变时延力反馈遥操作机器人系统的内模控制 |
| Internal model control forforce-reflecting teleoperation systems with varyingtime-delay |
| 摘要点击 1524 全文点击 1369 投稿时间：2005-05-09 修订日期：2006-02-23 |
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| DOI编号 10.7641/j.issn.1000-8152.2007.1.003 |
| 2007,24(1):13-18 |
| 中文关键词 遥操作 变时延 内模 鲁棒控制 稳定性 透明性 |
| 英文关键词 teleoperation time-varying delay internal model robust control stability transparency |
| 基金项目 国家“863”计划子课题资助项目 2003AA133040 ;国家“863”资助项目 2001AA413420 |
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| 中文摘要 |
| 针对遥操作机器人通讯信道变化时延破坏系统稳定性和透明性的问题,
为力反馈遥操作系统建立了内模控制结构, 设计了两端控制器,
并给出了有界时延摄动下系统鲁棒稳定和满足鲁棒性能准则的控制器参数范围,
使系统在变时延下依然稳定并具有良好的透明性.
给出的控制方法不仅对时延状况适应性强, 而且控制器参数少, 相关度低,
依据不同性能要求进行选取的灵活性大. |
| 英文摘要 |
| Time-varying delays
in force-reflecting teleoperation system
communication channels always destroy the stability and transparency of the system. For these problems,
internal model control structure is applied to the system, and controllers for both manipulators are designed.
The bounds of the controllers' parameters which can guarantee the robust stability and satisfy the robust
performance criterion under arbitrary bounded time delay are also given. The method ensures both the
stability and good transparency of the system even under time-varying delay and has good adaptation to
different delay conditions. There are few controller parameters to be specified, and they are hardly
correlative with each other. When needed, they can be selected to achieve various performance specification flexibly. |
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