Department of Applied Math & Computer Science, Belarusian State University, Minsk, Belarus.
Electronic Engineering Department, Chonbuk National University, Jeonju City, South Korea.
ISA Trans. 2019 Feb;85:200-213. doi: 10.1016/j.isatra.2018.10.006. Epub 2018 Oct 20.
Bilateral teleoperation systems connected to computer networks such as the internet must be able to operate with varying time delays since such systems can easily become unstable. A passivity concept has been used as the framework to solve the stability problem in the bilateral control of teleoperation systems. Passivity and tracking performance are recovered using a control architecture that incorporates time varying gains into the transmission path, feedforward, and feedback position control. The proposed architecture has an inner component that can accommodate any configuration but still remain stable and passive even with varying time delay. The simulation results for a single degree of freedom master/slave system demonstrate the performance of the proposed control architecture.
双边遥操作系统通过诸如互联网的计算机网络连接，必须能够在不同的时间延迟下运行，因为这样的系统很容易变得不稳定。一个被动性概念已经被用作解决遥操作系统双边控制中稳定性问题的框架。通过使用控制架构，将时变增益纳入传输路径、前馈和反馈位置控制中，恢复了被动性和跟踪性能。所提出的架构具有一个内部组件，可以适应任何配置，但即使存在时变延迟，仍然保持稳定和被动。对于单自由度主从系统的仿真结果证明了所提出的控制架构的性能。
