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Controller Design for a Teleoperation System with Time Delay 被引量：2

Controller Design for a Teleoperation System with Time Delay
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摘要 A robust controller design method is presented to guarantee the stability and zero tracking error for teleoperation system with time delay. Through choosing appropriate master and slave parameters, extended state equation about master and master-slave error is achieved, which can be analyzed by using time delay knowledge. Thus delay-independent and delay-dependent criteria are derived in terms of the Lyapunov stability theorem, control parameters are obtained by the feasible of linear matrix inequalities. Experimental results show the validity of these approaches and the performance of master and slave manipulators with delay variations is analyzed. A robust controller design method is presented to guarantee the stability and zero tracking error for teleoperation system with time delay. Through choosing appropriate master and slave parameters, extended state equation about master and master-slave error is achieved, which can be analyzed by using time delay knowledge. Thus delay-independent and delay-dependent criteria are derived in terms of the Lyapunov stability theorem, control parameters are obtained by the feasible of linear matrix inequalities. Experimental results show the validity of these approaches and the performance of master and slave manipulators with delay variations is analyzed.
作者 佘君 焦守江 罗小元 关新平
机构地区 Institute of Electrical Engineering
出处 《Journal of Electronic Science and Technology of China》 2005年第4期348-353,共6页 中国电子科技（英文版）
基金 National Natural Science Foundation of China (No. 60274023)
关键词 TELEOPERATION time delay delay-independent and delay-dependent criteria teleoperation time delay delay-independent and delay-dependent criteria
分类号 TM571.6 [电气工程—电器]
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参考文献10

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  • 5KHAN A A, RAPAL N. Fuzzy PID controller: design, tuning and comparison with conventional PID controller[C]//IEEE International Conference on Engineering of Intelligent Systems. Islamabad: IEEE Press, 2006, 4: 1-6.
  • 6ZHANG M G; WANG Z G, WANG P. Adaptive PID decoupling control based on RBF neural network and its application[C]//IEEE International Conference on Wavelet Analysis and Pattern Recognition. Beijing: IEEE Press, 2007, 11: 727-731.
  • 7PILLAY N, GOVENDER P. A particle swarm optimization approach for model independent tuning of PID control loops[C]//Proceedings of AFRICON 2007. Windhoek: IEEE Press, 2007, 9: 1-7.
  • 8ARRUDA L V R, SWIECH M C S, Delgado M R B, et al. PID control of MIMO process based on rank niching genetic algorithm[J]. Applied Intelligence, 2008, 29(3): 290- 305.
  • 9ALMEIDA G, SILVA V V R, NEPOMUCENO E G, et al. Application of genetic programming for fine tuning PID controller parameters designed through Ziegler-Nichols technique[J]. Lect Notes Comput Sci, 2005, 3612:313-322.
  • 10OU C, LIN W. Comparison between PSO and GA for parameters optimization of PID controller[C]//IEEE International Conference on Mechatronics and Automation. Luoyang: IEEE Press, 2006, 6: 2471-2475.

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Journal of Electronic Science and Technology of China
2005年 第4期

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