基于动态事件触发通信的时变时延遥操作系统的位置和力控制  

Position and Force Control in Teleoperation Systems with Time-varying Delays Using Dynamic Event-triggered Communication

作　　者：文辉 刘霞 杨勇 WEN Hui;LIU Xia;YANG Yong(School of Electrical Engineering and Electronic Information,Xihua University,Chengdu 610039,China)

机构地区：[1]西华大学电气与电子信息学院,四川成都610039

出　　处：《信息与控制》2025年第1期110-122,共13页Information and Control

基　　金：国家自然科学基金项目(61973257,62003278);四川省自然科学基金项目(2023NSFSC0510,2023NSFSC1431)。

摘　　要：针对具有时变时延和有限通信信道带宽的机器人遥操作系统,提出了一种基于动态事件触发通信的位置和力控制方法。通过主从机器人端的位置、速度和力等状态信息以及动态变量来设计动态事件触发方案,使得事件触发频率可以随系统的变化而实时调整,并避免Zeno行为的发生。基于状态信息和所提出的触发机制,主从机器人只有在满足触发条件时才通过通信网络传输信号。在此基础上,设计了一种基于动态事件触发的类PD(proportional derivative)控制器来处理时变时延,从而保证遥操作系统的稳定性并实现主从机器人之间的位置跟踪和力跟踪。通过李雅普诺夫函数法证明了系统的稳定性以及跟踪性能,并通过对比仿真验证了所提控制方法的有效性。该方法可以有效缓解时变时延、网络拥塞等因素对系统造成的影响,节约有限的网络资源,同时提高了时变时延遥操作系统位置和力的跟踪精度。We introduce a position and force control method based on dynamic event-triggered communication for robotic teleoperation systems with time-varying delays and limited communication bandwidth.This scheme is formulated based on the state information of both the master and slave robots,including position,velocity,force,and other dynamic variables.The frequency of event triggering can be adjusted in real time to adapt to system changes,thereby preventing Zeno behavior.According to the state information and triggering mechanism,signals are transmitted between the master and slave robots through the communication network only when triggering conditions are met.Additionally,a dynamic event-triggered proportional derivative-like controller is developed to address time-varying delays.Therefore,the stability of the teleoperation systems is ensured,enabling precise position and force tracking between the master and slave robots.The stability and tracking performance of the system are assessed using a Lyapunov function,and the effectiveness of the proposed control method is confirmed through comparative simulations.This method effectively mitigates the effects of time-varying delays and network congestion,conserves limited network resources,and improves the precision of position and force tracking in delayed teleoperation systems with time-varying levels.

关 键 词：遥操作系统 时变时延 通信网络 动态事件触发 位置和力控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]