混杂半张量积网络遥操作系统分析及其控制  

Analysis and Control on Hybrid Semi-tensor Product Internet-based Teleoperation Systems

作　　者：陈宜滨[1,2] 席宁[1] 李洪谊[1] 王越超[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院大学,北京100049

出　　处：《信息与控制》2013年第3期281-288,共8页Information and Control

摘　　要：为了分析混杂半张量积网络遥操作系统模型的稳定性,先将其转化为脉冲切换系统,然后论证了稳定性.接着以混杂半张量积模型为参考模型,设计了一种非线性模型预测控制器.在预测控制器时延估计补偿中,将网络系统时延分为若干部分,提出先混合高斯、后熵最大化网络传输时延无监督学习的估计方法,从而实现时延的补偿和对远端机器人的控制.最后进行了实验,实验结果表明提出的方法能够满足网络遥操作系统的要求.In order to analyze the stability of hybrid semi-tensor product model of the Internet-based teleoperation system, it＇s first to convert the hybrid semi-tensor product model into an impulse switched system, and then discusses stability. Next a nonlinear model predictive controller is designed based on the hybrid semi-tensor product reference model. In the time delay estimation and compensation for the model predictive controller, the Internet time delay is divided into several parts and then puts forward a Gaussian mixture first, the entropy maximization following unsupervised learning time delay estimation method, by which the time delay is compensated and the remote robot is controlled. At last, an experiment is carried out, and the experimental results show that the method advanced in this paper can meet the requirements of the Internet-based teleoperation system.

关 键 词：半张量积 稳定性分析 切换系统 随机时延 移动机器人 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]