University of Technology, Baghdad, Iraq; Deakin University, Institute for Intelligent Systems Research and Innovation, Geelong, Australia.
School of Engineering, Deakin University, Geelong, Australia.
ISA Trans. 2018 Jan;72:25-36. doi: 10.1016/j.isatra.2017.10.009. Epub 2017 Oct 27.
This paper is devoted to the synchronization problem of tele-operation systems with time-varying delay, disturbances, and uncertainty. Delay-dependent sufficient conditions for the existence of integral sliding surfaces are given in the form of Linear Matrix Inequalities (LMIs). This guarantees the global stability of the tele-operation system with known upper bounds of the time-varying delays. Unlike previous work, in this paper, the controller gains are designed but not chosen, which increases the degree of freedom of the design. Moreover, Wirtinger based integral inequality and reciprocally convex combination techniques used in the constructed Lypunove-Krasoviskii Functional (LKF) are deemed to give less conservative stability condition for the system. Furthermore, to relax the analysis from any assumptions regarding the dynamics of the environment and human operator forces, H design method is used to involve the dynamics of these forces and ensure the stability of the system against these admissible forces in the H sense. This design scheme combines the strong robustness of the sliding mode control with the H design method for tele-operation systems which is coupled using state feedback controllers and inherit variable time-delays in their communication channels. Simulation examples are given to show the effectiveness of the proposed method.
本文致力于研究具有时变时滞、干扰和不确定性的遥操作系统的同步问题。通过线性矩阵不等式（LMIs）给出了存在积分滑动面的时滞相关充分条件，从而保证了具有已知时变时滞上界的遥操作系统的全局稳定性。与以往的工作不同，在本文中，设计了控制器增益但未进行选择，这增加了设计的自由度。此外，在构建的 Lyapunov-Krasovskii 函数（LKF）中使用的基于 Wirtinger 的积分不等式和互凸组合技术被认为可以为系统提供更保守的稳定性条件。此外，为了放宽对环境和操作人员力动力学的任何假设的分析，使用 H 设计方法来涉及这些力的动力学，并确保系统在 H 意义上抵抗这些可允许力的稳定性。这种设计方案将滑模控制的强鲁棒性与遥操作系统的 H 设计方法相结合，这些系统通过状态反馈控制器进行耦合，并在其通信通道中继承了可变时滞。给出了仿真示例以验证所提出方法的有效性。
