Polushin Ilia G, Liu Peter X, Lung Chung-Horng
IEEE Trans Syst Man Cybern B Cybern. 2006 Aug;36(4):930-9. doi: 10.1109/tsmcb.2005.861878.
The problem of force-reflecting teleoperation over Internet protocol networks is addressed. The existence of time-varying communication delay and the possibility of data losses are taken into consideration. Since significant data loss may result in discontinuity of the reference trajectory transmitted through the communication channel, the proposed control scheme includes a filter that provides a smooth approximation of a possibly discontinuous reference trajectory. The stability of the overall system is guaranteed by a version of the input-to-output stable small-gain theorem for functional differential equations. If the communication delay in the forward channel is an "approximately smooth" function of time, the proposed scheme guarantees that the slave manipulator tracks the delayed trajectory of the master within a prescribed small error.
解决了通过互联网协议网络进行力反馈遥操作的问题。考虑了时变通信延迟的存在以及数据丢失的可能性。由于显著的数据丢失可能导致通过通信通道传输的参考轨迹的不连续性，所提出的控制方案包括一个滤波器，该滤波器对可能不连续的参考轨迹提供平滑近似。通过适用于泛函微分方程的输入-输出稳定小增益定理的一个版本来保证整个系统的稳定性。如果前向通道中的通信延迟是时间的“近似平滑”函数，则所提出的方案保证从操作器在规定的小误差范围内跟踪主操作器延迟的轨迹。
