基于Internet的遥操作系统带观测器的反馈控制

Feedback control with observer for Internet based teleoperation systems

通常遥操作系统主、从机械手间存在通信时延,影响了系统的稳定性和操作性能.在基于Internet的遥操作系统中,时延是时变的,对系统的影响尤为剧烈.为了解决这个问题,在环境模型未知的条件下,首先提出在本地控制端用主手状态、预测的从手状态及接触力设计反馈控制器;接着用时间前向观测器预测从机械手的状态,并将时延变化率建模为系统不确定参数,最终得到稳定性和透明性条件.仿真结果表明了该方法的有效性.

There exist time delays in communication channels of a teleoperation system,and time delay reduces significant ability of teleoperation.This problem becomes especially serious in case of Internet_based teleoperation,when the time delay is variable.To overcome the trouble under unknown environment,firstly,an idea of using master state,predicted slave state and contact force between the slave and environment to design a local state feedback controller is proposed.Secondly,state space model of the system is derived.Time forward observer of the slave is established in local controller and the observer is employed to predict the slave state.Moreover,time delay changing rate is modeled as uncertain parameter.Finally,the stability and transparency condition is achieved.Feedback parameters,which satisfies the requirement of design,can be easily obtained by solving a linear matrix inequality.The results of the simulation show the effectiveness of the proposed method.