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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A New Coordinated Slave Torque Feedback Control Algorithm for Network-Based Teleoperation Systems
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A New Coordinated Slave Torque Feedback Control Algorithm for Network-Based Teleoperation Systems

机译：基于网络的远程操作系统的新型从动转矩反馈控制算法

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摘要

The control design problem is investigated for network-based teleoperation systems under the condition of asymmetric and time-varying delays. The classic teleoperation model is considered for which the position of the master is transmitted to the slave site as the control command and the slave torque is directly transmitted to the master in order for the user to have a feeling of the remote interaction. The slave controller is constructed based on the master–slave position error plus a new nonlinear damping function, while the master controller is composed of the transmitted slave torque and the introduced nonlinear damping function. By employing a new Lyapunov Krasovskii functional, we prove the exponential input-to-state stability of the closed-loop system. The relationship is built among the control design parameters and the maximum allowable time delays, which is in the form of linear matrix inequality. Both the simulations and experiments are performed to show the effectiveness of the proposed method. Compared with existing approaches, transmission delays considered are both time varying and asymmetric, and the passivity conditions on the remote environment and the human operator are removed. In addition, the method is very simple.
机译：研究了基于网络的遥操作系统在不对称和时变时延条件下的控制设计问题。考虑经典的远程操作模型，对于该模型，主机的位置作为控制命令传输到从机站点，并且从机扭矩直接传输到主机，以使用户感觉到远程交互。从控制器是基于主从位置误差加上新的非线性阻尼功能而构造的，而主控制器则由传递的从转矩和引入的非线性阻尼功能组成。通过使用新的Lyapunov Krasovskii函数，我们证明了闭环系统的指数输入到状态稳定性。建立在控制设计参数和最大允许时间延迟之间的关系，这是线性矩阵不等式的形式。仿真和实验都表明了该方法的有效性。与现有方法相比，考虑的传输延迟既是时变的又是非对称的，并且消除了远程环境和操作人员的被动条件。另外，该方法非常简单。

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