A New Robust Controller in the Network-based Teleoperation System with Force Feedback

摘要：

In this paper, a robust controller is proposed which can reduce the impact of delay time on the bilateral forcereflecting teleoperation system and improve the stability, because delay has a serious influence on serviceability of the remote operated mechanical system. Since bilateral force feedback teleoperation system model is nonlinear, it is linearized firstly, and then a robust controller is proposed. The method ensures the stability of the system through pole assignment and LQR. The pre-estimated algorithm with a self-adaptive function is obtained by the relation of the sampling period and delay time. Finally, through the simulation, this method is confirmed to be able to effectively reduce deviation between the received data and the actual data, and thus increase the accuracy, while the transparency of the system is also improved.

关键词： Force-reflecting teleoperation robust controller transmission delay pre-estimation

作者: Ting Chen Xiufen Ye Shuxiang Guo

作者单位: College of Automation Harbin Engineering University Harbin,150001,China The School of Electrical & E College of Automation Harbin Engineering University Harbin,150001,China

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）