时延下遥操作机器人系统H_∞鲁棒控制研究  

H_∞ Robust Control of Teleoperation System with Time Delay

作　　者：徐涛[1] 曾庆军[1] 

机构地区：[1]江苏科技大学电子信息学院,江苏镇江212003

出　　处：《计算机仿真》2008年第1期179-183,共5页Computer Simulation

基　　金：国家自然科学基金(60575051);江苏省高校自然科学基金(03KJB120005)

摘　　要：针对遥操作机器人系统通信通道中存在时延以及系统模型存在不确定性而可能造成系统不稳定和操作性能降低的问题,采用了H_∞混合灵敏度鲁棒控制的方法设计主从机械手的控制器。首先概括的介绍了系统的构成及动力学模型,然后针对控制器设计中加权函数选择较困难的问题,研究了一种较实用的加权函数选择方法,并采用MATLAB鲁棒控制工具箱进行了控制器设计,最后给出了系统在随机时延环境下Simulink的仿真结果。结果表明系统在受扰和通信信道存在随机时延的情况下,仍具有良好的鲁棒稳定性和跟踪性能。In order to eliminate or reduce the effect of time delays and uncertainty on a teleoperation system, an approach is proposed based on mixed - sensitivity H∞ robust control theory to design the master or slave controller. Firstly, the paper introduces the composition and kinetic model of the system in general. Because it＇ s hard to select weighting function for designing the controller, a practical weighting function selecting solution and the order reduction of the controller are presented. MATLAB Robust control toolbox is used to design H∞ controller. Then Simulink result is given under random - time - delay environment. Simulations show that the designed control system with H∞ controller can improve the robust stability and track performance even if disturbance and random - time - delay in communication channel exist.

关 键 词：遥操作机器人系统 H∞鲁棒控制 加权函数 混合灵敏度 时延 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]