基于网络远程控制滑模变结构控制策略

基于网络远程控制循环中存在随机通信延迟时间,影响控制循环的稳定性.提出采用滑模变结构控制来消除控制循环中随机通信延迟时间对稳定性的影响,研究了滑模变结构控制的实现方法、滑动平面求解、控制函数的实现等.滑模变结构控制的仿真结果与远程机器人直接控制结果的对比表明,前者能够保证在存在随机通信延迟时间时控制系统的稳定,证明了滑模变结构控制应用于机器人远程控制的合理性.

Sliding Mode Variable Structure Control of Internet-Based Teleoperation

Communication time delay,which exists in the control loop of Internet-based teleoperation, weakens the stabilities of control loop dramatically. This paper proposed a sliding mode variable structure control to eliminate the affection from time delay,and studied the method of realizing the sliding mode variable structure control, the solution of sliding plane, and the solution of control function. The simulation result of the sliding mode variable structure was compared with the result of direct control. The simulation result proves that the sliding mode variable control can ensure the stability of control system with random communication time delay. This also proves that the method of sliding mode variable structure control is reasonable.