| 遥操作系统带观测器的反馈控制 |
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| 引用本文： | 陈启宏,费树岷,郑敏,宋爱国.遥操作系统带观测器的反馈控制[J].系统工程理论与实践,2003,23(11):25-30. |
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| 作者姓名： | 陈启宏 费树岷 郑敏 宋爱国 |
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| 作者单位： | (1)武汉理工大学自动化学院 湖北武汉430070 ;(2)东南大学自动化研究所 江苏南京210096 ;(3)东南大学仪器科学与工程系 江苏南京210096 |
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| 基金项目： | 国家 8 63高技术 (863 -2 0 0 1 AA42 3 1 40 ) |
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| 摘 要： | 针对力觉临场感遥操作机器人系统传输通道中存在通讯时延，造成系统不稳定和操作性能降低等问题，提出了用时间前向观测器预测从手状态，用力、位置和速度反馈消除或减小时延对系统影响的方法，并对系统的稳定性和透明性进行了分析。实验结果表明了该方法的有效性。
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| 关 键 词： | 时延 透明性 状态观测器 预测 渐近稳定 鲁棒性 |
| 文章编号： | 1000-6788(2003)10-0025-06 |
| 修稿时间： | 2002年11月13 |
Feedback Control with Observer of Internet Based Teleoperation Systems |
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| CHEN Qi-hong,FEI Shu-min,ZHENG Min,SONG Ai-guo.Feedback Control with Observer of Internet Based Teleoperation Systems[J].Systems Engineering —Theory & Practice,2003,23(11):25-30. |
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| Authors: | CHEN Qi-hong FEI Shu-min ZHENG Min SONG Ai-guo |
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| Institution: | (1) School of Automation, Wuhan Science and Technology University, Wuhan 430070, China; (2) Research Institute of Automation, Southeast University, Nanjing 210096, China; (3)Dept of Instrumen |
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| Abstract: | There are communication time delays in communication channels of a telepresence telerobot system. This conduces to instability and bad performance of the system. In order to eliminate or reduce the effect of time delays to a telerobot telepresence system,time forward observer is used to predict the state of the slave. Moreover, force,position and velocity feedback is proposed and control parameter is designed to ensure that the system is stable and the performance is good. The results of the experiment showed effectiveness of this method. |
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| Keywords: | time delay transparency state observer prediction asymptotically stable robustness |
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