力反馈时延遥操作系统的时延相关稳定性分析

Analysis of delay-dependent stability for time-delay teleoperating systems with force-reflection

当力反馈双边控制系统的主从端之间存在时延时,系统的稳定性和透明性会遭到破坏.无源性方法能保证系统的时延无关稳定性,但由于稳定性和透明性冲突,系统的透明性较差.本文利用绝对稳定性理论推导出一种新的双边控制算法.它以时延相关稳定性代替时延无关稳定性作为控制设计的目标,牺牲一部分不必要的稳定裕度以改善系统的透明性.它在保证系统稳定性的前提下使系统具有更好的透明性,最后用仿真进行了验证.

When there exist a time-delay between the master and slave of bilateral systems with force-reflection, the stability and transparency of system gets worse. The algorithm based on passivity can guarantee the delay-independent stability. However, because the stability and transparency are in conflict, the transparency of this algorithm gets worse. In this papers, a new bilateral control algorithm based on absolute stable theory is put forward, which aims at the timedelay teleoperating system with force reflection from slave directly. In the new control algorithm, delay-dependent stability instead of delay-independent stability was taken as the aim of control design, it sacrifices some excessive stability to improve transparency. This control algorithm guarantees the stability and better transparency. Finally, a simulation is given to illustrate this approach.