网络化遥操作多机器人系统时滞相关控制研究

项目名称： 网络化遥操作多机器人系统时滞相关控制研究

项目编号： No.61503120

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 葛超

作者单位： 华北理工大学

项目金额： 20万元

中文摘要： 网络化遥操作多机器人系统极大的拓展了操作者对远端环境的感知和控制能力，已经被广泛应用于空间探索、深海探测、核工业以及医疗卫生等各个领域，具有广阔的应用前景。由于网络的引入，必然会在通信环节产生时滞现象，时滞的存在严重影响遥操作系统的稳定性和透明性。本项目聚焦于遥操作系统时滞相关控制问题，并将理论研究结果应用于遥操作实验平台。首先，分析网络时滞特性，针对主、从端通信时滞是时变且非对称情形，建立系统的时滞数学模型。其次，根据建立的系统模型，设计控制器，构造Lyapunov泛函，充分考虑时变时滞的有用信息，结合不等式技术来处理交叉项，得到保守性较低的时滞相关稳定性判据，揭示控制器增益和最大允许时滞上界的关系。最后，将理论研究成果应用于遥操作多机器人系统实验平台，验证控制策略的可行性和有效性。通过对上述内容的研究，给出系统的时滞相关控制策略，在遥操作多机器人学领域具有重要的理论意义和实际应用价值。

中文关键词： 网络化控制；遥操作系统；时滞相关；渐进稳定；Lyapunove泛函

英文摘要： Networked teleoperation multi-robots system greatly expanded the operator’s awareness and control for the remote environment and was widely used in space exploration, deep sea exploration, nuclear industry and medical and health care and other fields. The system has wide application prospect. Due to the introduction of the network, time-delays are bound to be existent. Time-delays seriously affect the stability and transparency of the teleoperation system. This project focuses on the delay-dependent control for the teleoperation system. The results of theoretical research are applied to the teleoperation experiment platform. First, the delay model of the system is established with the time-varying and asymmetric delays by analyzing of network characteristics. Then, according to the system model, the controller is designed. The new Lyapunov functional is constructed. By using inequality technique to deal with the cross terms, the useful information of time-varying delays is considered. The less conservative delay-dependent stability criteria are given. The relationship between the controller gains and the maximum allowable delay bound is revealed. Finally, the theoretical research results are applied to multi-robots teleoperation experimental platform to verify the feasibility and effectiveness of control strategy. With the above research achievements, delay-dependent control strategy of the teleoperation system is given. The research has important theoretical significance and practical application value.

英文关键词： networked control;teleoperationn system;delay-dependent;asymptotical stability;Lyapunove functional