基于时变时延辨识的双向遥操作控制方法

遥操作中通信时延的时变性一直是遥操作控制中的难点。为了解决此问题,首先分析了遥操作中通信时延变化的原因,然后针对这种时变时延给出了一种能够快速跟踪时变时延参数的在线辨识方法,最后给出了一种专门针对遥操作中时变时延的控制方法。仿真结果证明了控制方法的有效性。

Bilateral control of teleoperation system based on time-varying delay identification

In view of the difficulties caused by the time-varying communication delay in the teleoperation, the reasons for the time-varying communication delay was analyzed. To solve the problem a time-varying communication delay identification method was proposed and this method can converge the time-varying communication delay parameter quickly. This method was combined with the wave integrals and a control scheme especially proposed for the time-varying communication delay. The effectiveness of the proposed scheme has been demonstrated through the simulations.