空间遥控作业系统的自适应无源控制

ADAPTIVE PASSIVITY CONTROL OF SPACE TELEOPERATION SYSTEM

遥控作业系统是实现空间危险环境中作业的有力手段。由于空间工作站和地面控制站之间的通讯时延，造成了遥控作业系统的不稳定和操作性能的降低。本文利用二端口网络理论，提出了可定量评价系统操作性能的指标函数，并导出操作性能最优（临场感状态）的无源控制算法，同时针对环境的不确定性，给出参数自调节的自适应无源控制器的结构。

Teleoperation system is an effective means of task performing in space The time delay of communication between space station and earth station causes instability and bad performance of teleoperation system In this paper,an index function to evaluate the performance of tleoperation system is presented by using two network theory Based on optimal performance,a new passive control algorithm is proposed and an adaptive control structure to adjust the algorithm parameters is given The result of the experiment shows effectiveness of this control algorithm