Loop Shaping for Transparency and Stability Robustness in Time-Delayed Bilateral Telemanipulation
Loop Shaping for Transparency and Stability Robustness in Time-Delayed Bilateral Telemanipulation
复制标题
循环整形可实现延时双边遥控操作的透明度和稳定性
DOI：
10.1115/1.1790539
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
K. Fite
中科院分区：
文献类型：
--
作者：
K. Fite
本文提出了一种在通信信道中存在显著时延的双边遥操作系统中提供透明性和稳定性鲁棒性的控制方法。该方法利用自适应Smith预估器来补偿时滞，并结合先前发表的环路成形方法来设计补偿器以保证环路的透明性和稳定性。在单自由度遥操作系统上进行了实验验证，结果表明该方法具有良好的稳定性和性能稳健性。
This paper presents a control methodology that provides transparency and stability robustness in bilateral telemanipulation systems that include a significant time delay in the communication channels. The method utilizes an adaptive Smith predictor to compensate for the time delay, and incorporates a previously published loop shaping approach to design a compensator for transparency and stability robustness of the loop. The method is experimentally demonstrated on a single degree-of-freedom telemanipulation system, and is shown to effectively provide stability and performance robustness.