Yang Xian, Hua Chang-Chun, Yan Jing, Guan Xin-Ping
IEEE Trans Cybern. 2019 Jul;49(7):2514-2523. doi: 10.1109/TCYB.2018.2826016. Epub 2018 May 2.
Most research so far in teleoperation control has assumed that all information is transmitted continuously. Unfortunately, the damaged and electromagnetic interfered line cause communication link failure. In addition, the unreliable link further leads to port data congestion. The data packet will be discarded when the buffer overflows. Consequently, it is unknown whether stability of the teleoperator could be guaranteed in the presence of intermittent communications. In order to overcome these drawbacks, in this paper, we provide a solution to the formation control problem of a single-master-multislave teleoperator in the situation where each robot is allowed to communicate with its neighbors only at some irregular discrete time instants. The relationship among control gains, topology, and maximum-allowable connected interval is presented. Simulations are performed to show the validity of our proposed approach.
迄今为止，大多数遥操作控制研究都假定所有信息是连续传输的。不幸的是，线路损坏和电磁干扰会导致通信链路故障。此外，不可靠的链路还会进一步导致端口数据拥塞。当缓冲区溢出时，数据包将被丢弃。因此，在存在间歇性通信的情况下，遥操作器的稳定性是否能够得到保证尚不清楚。为了克服这些缺点，在本文中，我们针对单主多从遥操作器的编队控制问题提供了一种解决方案，该方案适用于每个机器人仅在一些不规则离散时刻与其邻居进行通信的情况。给出了控制增益、拓扑结构和最大允许连接间隔之间的关系。通过仿真验证了所提方法的有效性。
