摘要
时延稳定性是遥操作系统面临的难题之一.基于无源性理论的波变量法可以保证遥操作系统在任意时延下稳定,已成为遥操作控制系统设计的一个重要方法.本文对波变量法的理论基础、波变量与波控制器、实际使用中的注意事项以及波变量法的最新进展做了系统的、全面的阐述,并指出其未来的研究方向.
One of the difficult problems in teleoperation systems is the stability under time delays.Wave variable method based on passivity can ensure teleoperator stability with arbitrary time delays and has become an important method for teleoperation system controller design.This paper discusses the overall issues of wave variable method,including its theoretical foundations,wave variable and wave controller,problems in practical application and its latest developments,and then points out its future study directions.
出处
《信息与控制》
CSCD
北大核心
2007年第5期616-622,633,共8页
Information and Control
基金
国家863计划资助项目(2002AA742048)
国家自然科学基金资助项目(60475034)
霍英东青年教师基金资助项目(91055)
关键词
遥操作
时延
控制
波变量
teleoperation
time delay
control
wave variable
