Gain-scheduled compensation for time delay of bilateral teleoperation systems
Gain-scheduled compensation for time delay of bilateral teleoperation systems
复制标题
双边遥操作系统时延增益调度补偿
DOI：
10.1109/robot.1998.680593
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
Masayuki Tanaka
中科院分区：
文献类型：
--
作者：
A. Sano;H. Fujimoto;Masayuki Tanaka
本文基于H/sub /spl / In //-最优控制理论，讨论了主从系统的控制器设计。对自由运动和约束运动，按顺序设计了几个达到给定性能要求的控制器。特别地，在增益调度的框架中，考虑了时滞的变化，设计了一个时变控制器来适应当前的时滞。这种控制策略通常在面对操作条件的大变化时实现更高的性能。通过实验和仿真验证了该方法的有效性。
In this study, the design of controllers for the master-slave system is discussed on the basis of the H/sub /spl infin//-optimal control theory. A few controllers that achieve given performance specifications for the free motion and the constrained motion are designed in order. Especially, by considering a variation of time delay, a time-varying controller incorporates to adjust to the current time delay is designed in the framework of the gain scheduling. This control strategy typically achieves higher performance in the face of large variations in operating conditions. The effectiveness of proposed method is confirmed by the experiments and the simulations.