基于web的遥操作系统时延分析

采用预测控制算法给出了一种带有时延补偿器的新的控制结构,分别在前向通道和反馈通道设计补偿器对网络时延进行补偿.实验结果表明:带有预测器及补偿器的新的控制结构可以改善系统的动态性能,并且能够保证系统在具有时延和数据丢失的环境下的稳定性.

Adopting predictive control algorithm,then new control structure with two compensators on the forward channel and feedback channel for unpredictable time-delay in network transportation is put forward.Experimental result indicates the new control structure with predictor and compensator can improve dynamic performance of the system,and can maintain the stability of the control system in the condition of time delay and data loss.

国家自然科学基金(60334010)