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时延遥操作的主端命令预测波控制 被引量：1

Time-Delayed Teleoperation Using Wave Controller with Command Prediction on the Master Side
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摘要 在传统的波控制器的基础上,用线性两点预测与五点二次预测凸联合的方法对主端的命令与反馈力进行在线预测。仿真结果表明,只要对时延的辨识足够精确,该方法能够在保证系统稳定的前提下一定程度上提高系统的操作性能。 A new control scheme for time-delayed teleoperation system is proposed by combining linear-two-point-prediction and five- point-square-prediction on the master side based on traditional wave controller. Simulation results show that the scheme can guarantee the stability and improve the operation performance to a certain extent if the delay time is identified accurately enough.
作者 张永林 宋爱国
机构地区 东南大学仪器科学与工程学院
出处 《测控技术》 CSCD 2008年第5期71-73,77,共4页 Measurement & Control Technology
基金 国家863高技术研究发展计划(2006AA04Z246) 国家自然科学基金资助项目(60775057)
关键词 遥操作 时延 波变量 线性凸联合预测 teleoperation time delay wave variables linear protruding combined prediction
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置] TP18 [自动化与计算机技术—控制理论与控制工程]
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同被引文献22

  • 1张永林,宋爱国.广义波变量遥操作系统的透明性分析[J].宇航学报,2008,29(2):688-693. 被引量：3
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  • 4Chopra N, Spong M W, Lozano R. Synchronization of bilateral teleo- perators with time delay [ J ]. Automatics , 2008,44 ( 8 ) : 2142- 2148.
  • 5Polushin I G,Liu P X,et al. A force-reflection algorithm for im- proved transparency in bilateral teleoperation with communication delay[ J ]. IEEE-ASME Transaction on Mechatronics, 2007, 12 ( 3 ) :361-374.
  • 6Spong M W, Hutchinson S, Vidyasagar M. Robot Mode|ing and Control. JohnWiley & Sons[ M]. Inc,New York,2006.
  • 7Lee D J, Spong M W, Passive bilateral control of teleoperators under constant time delay[ J]. IEEE Transactions on Robotics,22 (2) : 269 -281,2006.
  • 8Hung N V Q ,Narikiyo T,Tuan H D. Nonlinear adaptive control of master-slave system in teleoperation[ J]. IEEE Control Engineering Practice, 11 : 1-10,2003.
  • 9Gautier M, Andriot C. 6DOF haptie cooperation over large latency network with wave variables for virtual prototyping[ M]. IEEE In- ternation Conference on Robotics and Automation Kobe Internation- al Conference Center, May 12 - 17,2009.
  • 10Gautier M,Andriot C. Bilateral teleoperation with time delay using modified wave variable based controller [ M ]. IEEE Internation Conference on Robotics and Automation, Kobe International Confer- ence Center, May 12-17,2009.

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测控技术
2008年 第5期

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