| 面向在轨服务的机器人遥操作双边控制 |
| |
| 引用本文： | 王瑞奇,顾文锦,夏长俊,张文广. 面向在轨服务的机器人遥操作双边控制[J]. 机电工程, 2011, 28(5): 577-581 |
| |
| 作者姓名： | 王瑞奇 顾文锦 夏长俊 张文广 |
| |
| 作者单位： | 1. 海军航空工程学院控制工程系,山东,烟台,264001
2. 海军航空工程学院,军械工程系,山东,烟台,264001 |
| |
| 基金项目： | 国家高技术研究发展计划("863"计划)资助项目 |
| |
| 摘 要： | 为解决随机分布时延对双边遥操作系统稳定性的影响,将马尔可夫跳变参数技术应用到时延建模中.首先将遥操作系统的一般方程转化为状态空间描述形式;针对时延的随机分布特征,建立了时延分布的马尔可夫跳变模型;在此基础上,利用线性矩阵不等式方法,构建r系统的时延独立稳定性定理,并用李雅普诺夫函数方法进行了证明;最后,在两种马尔可夫概...
|
| 关 键 词： | 在轨服务 双边控制 遥操作 机器人 线性矩阵不等式 |
Bilateral control of robot teleoperation for on-orbit services |
| |
| WANG Rui-qi,GU Wen-jin,XIA Chang-jun,ZHANG Wen-guang. Bilateral control of robot teleoperation for on-orbit services[J]. Mechanical & Electrical Engineering Magazine, 2011, 28(5): 577-581 |
| |
| Authors: | WANG Rui-qi GU Wen-jin XIA Chang-jun ZHANG Wen-guang |
| |
| Affiliation: | 1.Department of Control Engineering,Naval Aeronautical and Astronautical University,Yantai 264001,China;(2.Department of Ordnance Engineering,Naval Aeronautical and Astronautical University,Yantai 264001,China) |
| |
| Abstract: | In order to solve the stabilization problem of bilateral teleoperation system with random distribution time delay,the Markov jumping parameters technique was investigated.System equations were firstly transformed into state space expression.After the analysis of time delay,the Markov jumping model was established.Then,based on linearity matrix inequations,delay indepentdent stabilization theorem was presented to obtain the stable system,Lyaponov function method was used to prove the stabilization theorem.Finally,the closed system was evaluated on the two different Markov probability transition matrix.Experimental results show that this approach is valid and has encouraging stabilization performance. |
| |
| Keywords: | on-orbit services bilateral control teleoperation robot linearity matrix inequations |
| 本文献已被 维普 万方数据 等数据库收录！ |
|
