变时延力反馈遥操作机器人系统的内模控制

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．

Internal model control forforce-reflecting teleoperation systems with varyingtime-delay

Time-varying delays in force-reflecting teleoperation system communication channels always destroy the stability and transparency of the system. For these problems, internal model control structure is applied to the system, and controllers for both manipulators are designed. The bounds of the controllers' parameters which can guarantee the robust stability and satisfy the robust performance criterion under arbitrary bounded time delay are also given. The method ensures both the stability and good transparency of the system even under time-varying delay and has good adaptation to different delay conditions. There are few controller parameters to be specified, and they are hardly correlative with each other. When needed, they can be selected to achieve various performance specification flexibly.