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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Generic Approach to Stability Under Time-Varying Delay in Teleoperation: Application to the Position-Error Control of a Gantry Crane
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Generic Approach to Stability Under Time-Varying Delay in Teleoperation: Application to the Position-Error Control of a Gantry Crane

机译：遥操作时变时延下稳定性的通用方法：在龙门起重机位置误差控制中的应用

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摘要

In this paper, we develop a generic approach for modeling a teleoperation setup, as a negative single feedback loop containing a linear time-invariant block and an uncertain time-varying delay. It is not based on specific dynamics of masters and slaves, neither on any control architecture. The main added value of the proposed approach is the possibility of deriving frequency-domain conditions for robust stability in the presence of time-varying delays and parametric uncertainties. To address stability, we choose a primitive result providing a bound of certain delay subsystem. We combine this, with input–output stability criteria and μ-analysis and synthesis techniques, to reach a procedure based on the structured singular value providing less conservative results. Finally, our approach is presented within a suggested flowchart that helps the designer to manage the control parameter ranges and facilitates the gradual achievement of stability, robust stability, and performance properties. As a case study, we consider the Internet-based teleoperation of a gantry crane by means of the position-error control architecture. We have also obtained actual delay bounds appearing with UDP protocol for different Internet locations. Simulation and experimental results confirm the robust performance of the teleoperation system in terms of stability and tracking behavior.
机译：在本文中，我们开发了一种通用的方法，用于对遥操作装置进行建模，作为包含线性时不变块和不确定时变延迟的负单个反馈回路。它不是基于主从的特定动态，也不是基于任何控制体系结构。所提出的方法的主要附加价值是在存在时变延迟和参数不确定性的情况下，可以推导出用于鲁棒稳定性的频域条件的可能性。为了解决稳定性，我们选择提供一定延迟子系统界限的原始结果。我们将其与输入输出稳定性标准，μ分析和综合技术相结合，以基于结构化奇异值的程序提供保守性较低的结果。最后，在建议的流程图中介绍了我们的方法，该流程图可帮助设计人员管理控制参数范围，并有助于逐步实现稳定性，鲁棒稳定性和性能特性。作为案例研究，我们考虑通过位置误差控制架构对龙门起重机进行基于Internet的远程操作。我们还获得了针对不同Internet位置的UDP协议出现的实际延迟范围。仿真和实验结果证实了远程操作系统在稳定性和跟踪行为方面的强大性能。

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