共查询到18条相似文献,搜索用时 203 毫秒
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针对波变量法在任意时延下能保证时延双边遥操作系统的稳定,但却降低主从端之间跟踪性的问题,提出一种改进基于波变量遥操作系统的设计方案;该方案引入PD控制器调整主从端速度误差,并采用PI控制器控制从端;最后,对调整和未调整的基于波变量双边遥操作系统分别进行仿真实验;实验结果表明,与未调整的系统相比,调整的系统在一定程度上极大地降低了主从端位置、速度和力的跟踪误差,使得该方案在保证系统稳定的前提下有效提高了系统透明性。 相似文献
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变时延力反馈遥操作机器人系统的内模控制 总被引:1,自引:0,他引:1
针对遥操作机器人通讯信道变化时延破坏系统稳定性和透明性的问题,为力反馈遥操作系统建立了内模控制结构,设计了两端控制器,并给出了有界时延摄动下系统鲁棒稳定和满足鲁棒性能准则的控制器参数范围,使系统在变时延下依然稳定并具有良好的透明性.给出的控制方法不仅对时延状况适应性强,而且控制器参数少,相关度低,依据不同性能要求进行选取的灵活性大. 相似文献
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由于网络控制系统NCS引入网络后造成系统时延而造成系统的不稳定性。本文针对一类短时延NCS中,为保证系统的全局稳定问题,研究了该短时延系统的时延有界性。同时,证明了在输出反馈的条件下,分析了系统的闭环稳定性充分必要条件。最后,文章也通过Matlab对被控对象进行仿真实验,进而证明了文中的结论。 相似文献
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基于有界时延、无数据包丢失、传感器时钟驱动、执行器事件驱动,文章提出了用一个特定的实值函数来调节动态输出反馈控制器的输出以确保控制对象输入有界的方法,建立了具有分布时延、有界输入、动态输出反馈网络控制系统的非线性数学模型.用李雅普诺夫第二方法和线性矩阵不等式描述分析了系统的渐近稳定性,并推导出与时延无关的系统渐近稳定的充分条件.最后MATLAB仿真算例说明:稳定判据是可行的,有界输入的控制方法是有效的. 相似文献
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对时延网络控制系统的稳定性进行研究,针对系统时延中固定时延这种情形,通过对时延黄金分割以及引入改进自由权矩阵,基于李雅普诺夫稳定性理论,给出一种讨论时延网络控制系统稳定性的新方法。 相似文献
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初步研究了虚拟环境中计算时延的特性,从能量传输的角度讨论了计算时延对虚拟环境稳定性的影响,并设计了一个虚拟阻尼器以抵消计算时延产生的多余能量,从而保证虚拟环境的无源稳定性. 相似文献
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Qi-Wen Deng Qing Wei Ze-Xiang Li 《国际自动化与计算杂志》2007,4(2):203-207
In this paper, a new bilateral control algorithm based on absolute stability theory is put forward, which aims at the time-delay teleoperation system with force feedback from the slave directly. In the new control algorithm, the delay-dependent stability, instead of delay-independent stability, is taken as the aim of control design. It improves the transparency of the system at the price of unnecessary stability. With this algorithm, the time-delay teleoperation systems have good transparency and stability. A simulation system is established to verify the effect of this algorithm. 相似文献
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Stability of a bilateral teleoperation system may be jeopardized by controller discretization, which has been shown to involve energy leaks. This paper proposes a novel approach to analyzing the absolute stability of sampled-data bilateral teleoperation systems consisting of discrete-time controllers and continuous-time master, slave, operator, and environment. The proposed stability analysis permits scaling and delay in the master and the slave positions and forces. The absolute stability conditions reported here impose bounds on the gains of the discrete-time controller, the damping terms of the master and the slave, and the sampling time. A design-related application of these results is in proper selection of various control parameters and the sampling rate for stable teleoperation under discrete-time control. To explore the trade-off between the control gains and the sampling time, it is studied that how large sampling times, which require low control gains for maintaining stability, can lead to unacceptable teleoperation transparency and human task performance in a teleoperated switching task. This shows that the effect of sampling time must be taken into account because neglecting it (as in the absolute stability literature) undermines both stability and transparency of teleoperation. The resulting absolute stability condition has been verified via experiments with two Phantom Omni robots. 相似文献
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Mahdi Tavakoli Arash Aziminejad Rajni V Patel Mehrdad Moallem 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2007,37(6):1512-1528
In master-slave teleoperation applications that deal with a delicate and sensitive environment, it is important to provide haptic feedback of slave/environment interactions to the user's hand as it improves task performance and teleoperation transparency (fidelity), which is the extent of telepresence of the remote environment available to the user through the master-slave system. For haptic teleoperation, in addition to a haptics-capable master interface, often one or more force sensors are also used, which warrant new bilateral control architectures while increasing the cost and the complexity of the teleoperation system. In this paper, we investigate the added benefits of using force sensors that measure hand/master and slave/environment interactions and of utilizing local feedback loops on the teleoperation transparency. We compare the two-channel and the four-channel bilateral control systems in terms of stability and transparency, and study the stability and performance robustness of the four-channel method against nonidealities that arise during bilateral control implementation, which include master-slave communication latency and changes in the environment dynamics. The next issue addressed in the paper deals with the case where the master interface is not haptics capable, but the slave is equipped with a force sensor. In the context of robotics-assisted soft-tissue surgical applications, we explore through human factors experiments whether slave/environment force measurements can be of any help with regard to improving task performance. The last problem we study is whether slave/environment force information, with and without haptic capability in the master interface, can help improve outcomes under degraded visual conditions. 相似文献
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Bo You Jiayu Li Liang Ding Jiazhong Xu Weihua Li Kaixin Li Haibo Gao 《Journal of Intelligent and Robotic Systems》2018,91(3-4):583-602
With the widespread use of multi-legged robots in various applications, new challenges have arisen in terms of designing their control systems, one of which is posed by the multiple degrees of freedom of the robotic legs. This paper proposes a novel method for the bilateral teleoperation control of a hexapod robot by using a semi-autonomous strategy. In this teleoperation system, the body velocities of the slave robot and the displacements of the master robot are mapped to each other. The angular velocities of the joints of the legs rely on independent planning to achieve a horizontal movement. A controller is designed based on the difference between the expected velocity and the actual velocity of the body, and the difference is fed back to the operator in the form of haptic force. Therefore, the transparency of the control system is guaranteed by increasing the damping compensation both in the master and slave robots. In addition, the stability of the bilateral teleoperation control system of the hexapod robot is guaranteed by passivity theory, and the proposed method is verified by conducting semi-physical simulation experiments. 相似文献
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Integrated adaptive robust control for multilateral teleoperation systems under arbitrary time delays 下载免费PDF全文
With the increasing industrial requirements such as bigger size object, stable operation, and complex task, multilateral teleoperation systems extended from traditional bilateral teleoperation are widely developed. In this paper, the integrated control design is developed for multilateral teleoperation systems, where n master manipulators are operated by human to remotely control n slave manipulators cooperatively handling a target object. For the first time, the control objectives of multilateral teleoperation including stability, synchronization, transparency, and internal force distribution are clarified systematically. A novel communication architecture is proposed to cope with communication delays, where the estimated environmental parameters are transmitted from the slave side to the master, to replace the traditional environmental force measurement in the communication channel. A kind of nonlinear adaptive robust control technique is used to deal with nonlinearities, unknown parameters, and modeling uncertainties existing in the master, slave, and environmental dynamics, so that the excellent tracking performance is achieved in both master and slave sides. The coordinated motion/force control is designed in the slave side by the optimal internal force distribution among n slave manipulators, and the impedance control is designed in the master side to realize the target transparency behavior. In summary, the proposed control algorithm can achieve the guaranteed robust stability, the excellent synchronization and transparency performance, and the optimal internal force distribution simultaneously for multilateral teleoperation systems under arbitrary time delays and various modeling uncertainties. The simulation is carried out on a 2‐master/2‐slave teleoperation system, and the results show the effectiveness of the proposed control design. Copyright © 2015 John Wiley & Sons, Ltd. 相似文献
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A novel adaptive robust control architecture for bilateral teleoperation systems under time‐varying delays 下载免费PDF全文
Bilateral teleoperation technology has caused wide attentions due to its applications in various remote operation systems. The communication delay becomes one of the main challenging issues in the teleoperation control design. Meanwhile, various nonlinearities, parameter variations, and modeling uncertainties existing in manipulator and environment dynamics need to be considered carefully in order to achieve good control performance. In this paper, a globally stable nonlinear adaptive robust control algorithm is developed for bilateral teleoperation systems to deal with these control issues. Namely, the unknown dynamical parameters of the environmental force are estimated online by the improved least square adaptation law. A novel communication structure is proposed where only the master position signal is transmitted to the slave side for the tracking design, and the online estimators of the environmental parameters are transmitted from the slave to the master to replace the traditional environmental force measurement. Because the estimated environmental parameters are not power signals, the passivity problem of the communication channel and the trade‐off limitation between the transparency performance and robust stability in traditional teleoperation control are essentially avoided. The nonlinear adaptive robust control is subsequently developed to deal with nonlinearities, unknown parameters, and modeling uncertainties of the master, slave, and environmental dynamics, so that the guaranteed transient and steady‐state transparency performance can be achieved. The experiments on two voice‐coil motor‐driven manipulators are carried out, and the comparative results verify that the proposed control algorithm achieves the excellent control performance and the guaranteed robust stability simultaneously under time delays. Copyright © 2014 John Wiley & Sons, Ltd. 相似文献
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In this paper, a novel control approach is presented to improve the stability and transparency of the nonlinear bilateral teleoperation system with time delays, where a four-channel (4-CH) architecture using modified wave reflection reduction transformation is explored in order to guarantee the passivity of the communication channels in the nonlinear bilateral teleoperation system; a sliding-mode controller is proposed to compensate for the dynamic uncertainties and enhance the system synchronization performance in finite time. The system stability has been analyzed using Lyapunov functions. The proposed method is validated through experimental work based on a 3-DOF bilateral teleoperation platform in the presence of time delays. The experimental results clearly demonstrate that the proposed control algorithm has superiority on system transparency over other wave-based systems. 相似文献
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直流微电网中,大部分控制器在设计时未考虑通信延时对系统性能的影响,这可能会导致控制器在实际应用中失效甚至影响系统的稳定性.本文基于一种分布式控制策略,建立了直流微电网系统的时滞模型,重点研究了通信延时对系统稳定性的影响.结合Razumikhin稳定性理论,提出了一种针对时变时滞系统的全时滞稳定性判据.为了更加适用于实际系统,在另一种全时滞稳定性判据的基础上,对系统时滞相关稳定性进行分析,得到保证系统稳定的延时上界,进而给出了一种确定控制参数范围的方法.与传统的将通信延时处理为一阶惯性环节的分析方法相比,基于时滞系统的分析方法更切合实际,为系统的稳定运行提供了一个更宽的时滞范围,提高了系统的可靠性.仿真和实验结果表明本文提出的控制参数设计方法能保证系统在最大延时下的稳定运行. 相似文献