移动机器人遥操作系统稳定性分析
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摘要
随着航天及深海探测技术的发展,遥操作机器人技术的应用越来越广泛,因此针对遥操作机器人的研究也逐渐成为了控制理论研究的热点之一。遥操作机器人系统借助于信息传输网络拓展了机器人的应用空间,实现了机器人的远程操作,使得遥操作机器人技术有了更加广阔的应用前景,利用这种控制方法还可以进行时实远程监控与操作、远程实验与教学、远程医疗、远程作业以及其它潜在的广泛应用。本文对移动机器人遥操作系统的稳定性分析方法进行了研究,主要的工作有:
首先,对几种实用的建模方法进行了总结,并确定了时滞系统模型作为本文的研究基础;介绍了几种遥操作系统中使用的典型网络及其特点,并以Internet为例讨论了遥操作系统的网络传输时延分析,时延分析结果为后面章节的时延假设提供了依据。
然后分别应用时滞理论和Lyapunov-Krasovskii定理,对遥操作系统的稳定性进行了研究,分别给出了遥操作系统时滞独立和时滞依赖稳定的充分条件,并给出了时滞依赖稳定的最大允许时滞,只要通信网络的传输时延小于该允许时滞,就可以保证遥操作系统是渐近稳定的。
在以上研究的基础上,对含有参数不确定性的遥操作系统的稳定性进行了研究,分别给出了该类系统时滞独立和时滞依赖稳定的充分条件,并给出了2个数字仿真算例,通过与已有文献的结果的比较,说明本章提出的判定定理具有更小的保守性。
最后,基于TrueTime工具箱设计了移动机器人遥操作控制系统仿真实验平台,并通过移动机器人遥操作仿真实验验证了前文稳定性定理的有效性和仿真平台的实用性。
各章的数字仿真实验表明,本文提出的遥操作系统时滞依赖稳定性判定定理不仅实用,且具有更小的保守性。
Comparing with the development of space technology and sea exploration, tele-robotics technology has been widely used, and the research about tele-robotics systems has gained more attention from the researchers all over the world. By the aid of information transmission network, tele-robotic systems have extended their working space and realized tele-operation. Meanwhile, several tele-operation systems have been used in many areas, such as tele-supervisal and tele-operation, tele-medicine systems and other potential applications. In this dissertation, the stability analysis of tele-robotic systems has been researched, and the main works are as follows:
Firstly, the modelling methods of tele-operation systems have been studied, and the model of linear systems with time-delay is chosen out and researched in the later work. Then several networks and their characteristics have been introduced, which are widely used in tele-operation systems. Based on Internet, the time-delay analyses of network transmission have been discussed. The results assure that the hypotheses about time-delay in Chapter 5 are correct.
Secondly, Based on Lyapunov-Razumikhin theory and Lyapunov-Krasovskii theorem, the Lyapunov stability of tele-operation systems has been addressed. The time independent and time dependent theorem for asymptotical stability of linear systems with time delay have been obtained. As long as the transporting time-delay of the network is less than the maximum allowable interval obtained by the time dependent theorem for asymptotical stability, the tele-operation systems are Lyapunov stable.
Then, Based on the study presented above, the Lyapunov stability of tele-operation systems with parameter uncertainty has been researched and the time independent and time dependent theorem for asymptotical stability have been given. Two examples are presented to illustrate that the new methods are more effective than the present methods and the delay bounds obtained in this paper are of less conservative.
In the end, the experiment platform of tele-robotic system has been designed using the TrueTime Toolbox of Matlab. And according to the simulation experiment of the tele-robotic system, the stability theorem mentioned in the anterior chapters and the practicability of the experiment platform have been verified.
The examples presented in each chapter are shown that the delay-dependent theorem for linear systems with time-delay theorem given in this dissertation is more effective than the present methods and the delay bounds obtained in this paper are of less conservative.
首先,对几种实用的建模方法进行了总结,并确定了时滞系统模型作为本文的研究基础;介绍了几种遥操作系统中使用的典型网络及其特点,并以Internet为例讨论了遥操作系统的网络传输时延分析,时延分析结果为后面章节的时延假设提供了依据。
然后分别应用时滞理论和Lyapunov-Krasovskii定理,对遥操作系统的稳定性进行了研究,分别给出了遥操作系统时滞独立和时滞依赖稳定的充分条件,并给出了时滞依赖稳定的最大允许时滞,只要通信网络的传输时延小于该允许时滞,就可以保证遥操作系统是渐近稳定的。
在以上研究的基础上,对含有参数不确定性的遥操作系统的稳定性进行了研究,分别给出了该类系统时滞独立和时滞依赖稳定的充分条件,并给出了2个数字仿真算例,通过与已有文献的结果的比较,说明本章提出的判定定理具有更小的保守性。
最后,基于TrueTime工具箱设计了移动机器人遥操作控制系统仿真实验平台,并通过移动机器人遥操作仿真实验验证了前文稳定性定理的有效性和仿真平台的实用性。
各章的数字仿真实验表明,本文提出的遥操作系统时滞依赖稳定性判定定理不仅实用,且具有更小的保守性。
Comparing with the development of space technology and sea exploration, tele-robotics technology has been widely used, and the research about tele-robotics systems has gained more attention from the researchers all over the world. By the aid of information transmission network, tele-robotic systems have extended their working space and realized tele-operation. Meanwhile, several tele-operation systems have been used in many areas, such as tele-supervisal and tele-operation, tele-medicine systems and other potential applications. In this dissertation, the stability analysis of tele-robotic systems has been researched, and the main works are as follows:
Firstly, the modelling methods of tele-operation systems have been studied, and the model of linear systems with time-delay is chosen out and researched in the later work. Then several networks and their characteristics have been introduced, which are widely used in tele-operation systems. Based on Internet, the time-delay analyses of network transmission have been discussed. The results assure that the hypotheses about time-delay in Chapter 5 are correct.
Secondly, Based on Lyapunov-Razumikhin theory and Lyapunov-Krasovskii theorem, the Lyapunov stability of tele-operation systems has been addressed. The time independent and time dependent theorem for asymptotical stability of linear systems with time delay have been obtained. As long as the transporting time-delay of the network is less than the maximum allowable interval obtained by the time dependent theorem for asymptotical stability, the tele-operation systems are Lyapunov stable.
Then, Based on the study presented above, the Lyapunov stability of tele-operation systems with parameter uncertainty has been researched and the time independent and time dependent theorem for asymptotical stability have been given. Two examples are presented to illustrate that the new methods are more effective than the present methods and the delay bounds obtained in this paper are of less conservative.
In the end, the experiment platform of tele-robotic system has been designed using the TrueTime Toolbox of Matlab. And according to the simulation experiment of the tele-robotic system, the stability theorem mentioned in the anterior chapters and the practicability of the experiment platform have been verified.
The examples presented in each chapter are shown that the delay-dependent theorem for linear systems with time-delay theorem given in this dissertation is more effective than the present methods and the delay bounds obtained in this paper are of less conservative.
引文
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