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Stability and control of bilateral teleoperation over the Internet with force feedback.

机译：具有强制反馈的Internet上双边远程操作的稳定性和控制。

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摘要

Bilateral teleoperation for the manipulation of distant environment over unreliable networks like the Internet presents many challenges which are examined in this thesis. The high performance demands of telesurgery set the framework for an investigation into teleoperation controller design in the face of packet losses and random transport delays. In the literature, many control approaches in teleoperation require models for the environment or the operator or both which cannot always be determined or which may change abruptly and frequently during operation. This thesis aims to develop models which place as few constraints as possible on the operator and environment while producing stable controllers whose performance is maximised in the face of the network imperfections.;Simulations are carried out which demonstrate the stability and performance of the proposed controllers. Experiments are then constructed using a linear single degree of freedom setup. The control design is undertaken for the experimental platform and the results are analysed. The stability and performance of the designed teleoperation controller is demonstrated in the face of packet losses and delays. Finally, suggestions for future work are suggested.;Data from actual Internet transmissions is used to formulate network models for use in the control design. The teleoperation problem is simultaneously formulated as a Linear Matrix Inequality condition and as a Markov Jump Linear System with a switching controller. Several design are detailed, building up to the case with independent communications between both sides with packet losses and random delays. Robust methods are applied to design controllers that can incorporate parameter uncertainty.
机译：在不可靠的网络（如Internet）上进行远程环境操纵的双边远程操作提出了许多挑战，本文对此进行了研究。面对数据包丢失和随机传输延迟，远程手术的高性能需求为研究远程操作控制器设计奠定了基础。在文献中，遥操作中的许多控制方法都需要针对环境或操作员或两者的模型，这些模型不能总是确定的，或者在操作过程中可能会突然频繁地更改。本文旨在开发一种在操作员和环境上尽可能减少约束的模型，同时生产出能够在面对网络缺陷的情况下使性能最大化的稳定控制器。;仿真实验证明了所提出控制器的稳定性和性能。然后使用线性单自由度设置构建实验。针对实验平台进行了控制设计，并对结果进行了分析。面对数据包丢失和延迟，证明了所设计的遥操作控制器的稳定性和性能。最后，提出了对未来工作的建议。；来自实际Internet传输的数据用于制定用于控制设计的网络模型。遥操作问题同时被表述为线性矩阵不等式条件和具有切换控制器的马尔可夫跳跃线性系统。详细介绍了几种设计，并根据双方之间的独立通信情况（丢包和随机延迟）进行了设计。鲁棒性方法应用于可能包含参数不确定性的设计控制器。

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  • 作者

    Walker, Kevin Casey.;

  • 作者单位

    Dalhousie University (Canada).;

  • 授予单位 Dalhousie University (Canada).;
  • 学科 Engineering Electronics and Electrical.;Computer Science.
  • 学位 M.A.Sc.
  • 年度 2007
  • 页码 96 p.
  • 总页数 96
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 非洲史;
  • 关键词

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