网络遥操作非线性离散系统的预估计算法  

Pre-esimated algorithm for nonlinear discrete-time systems in teleoperation

作　　者：陈亭 叶秀芬[1] 徐萌[3] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]哈尔滨理工大学电气与电子工程学院,黑龙江哈尔滨150080 [3]浙江大学生物医学工程与仪器科学学院,浙江杭州310027

出　　处：《华中科技大学学报（自然科学版）》2012年第10期17-20,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家高技术研究发展计划资助项目(2006AA04Z248)

摘　　要：提出一种具有自适应功能的预估计算法来降低时延和丢包对网络遥操作系统性能的影响,本算法利用采样时间、时延时间和数据通过网络传输后变化的规律建立,分析并给出了这种非线性离散系统的稳定性条件.通过仿真实验,验证了该方法能有效地降低时变时延和丢包的影响,也减少了此类问题对系统数据的影响,同时提高了系统的透明度.To reduce the impact of delay and packet loss on the teleoperation system, a method was designed by sample time, delay time and the characteristic of data change in networks. In this ap- proach, the pre-estimated algorithm owns a self-adaptive function. At the same time, the stability of this nonlinear discrete-time teleoperation system was analyzed. The simulation shows that the method is confirmed to be able to effectively reduce the influence of time-varying delay and packet loss and in- crease accuracy, while it also improves the transparency of the system.

关 键 词：网络遥操作 时延 丢包 采样时间 非线性离散系统 预估计 

分 类 号：TP316.8[自动化与计算机技术—计算机软件与理论]