使用补偿策略的机器人遥操作系统的控制研究

利用混杂动态系统的思想通过同时采用事件和时间驱动的执行器方案来弥补机器人遥操作系统中的不确定时延现象。即作为控制节点的操作者的控制决策发出时间是事件驱动的(满足一定条件下),执行器节点的接收也是事件驱动的,但是执行则是时间驱动的。通过这样的方法确保网络遥操作系统在每一采样周期内都能得到新的控制信号,从而补偿网络延迟。

A predictive controller and event/time-driven actuators are developed to handle the problem of uncertain time-delay in the tele-robot system.The decision from the operator is driven by the event,but the instruction executed is driven by the time.Through this way,the teleoperation system can compensate the time delay by a new control instruction in every sampling period.A related experiment(including design of software parts and hardware parts) is set up and the experiment results show the validity of this method.

国家自然科学基金重点专项(60334010);;广东省自然科学基金项目(5300181)