摘要
为解决随机分布时延对双边遥操作系统稳定性的影响,将马尔可夫跳变参数技术应用到时延建模中。首先将遥操作系统的一般方程转化为状态空间描述形式;针对时延的随机分布特征,建立了时延分布的马尔可夫跳变模型;在此基础上,利用线性矩阵不等式方法,构建了系统的时延独立稳定性定理,并用李雅普诺夫函数方法进行了证明;最后,在两种马尔可夫概率转换矩阵下对闭环系统进行了仿真。实验结果表明,采用所提供的方法可以获得较好的稳定性能。
In order to solve the stabilization problem of bilateral teleoperation system with random distribution time delay,the Markov jumping parameters technique was investigated.System equations were firstly transformed into state space expression.After the analysis of time delay,the Markov jumping model was established.Then,based on linearity matrix inequations,delay indepentdent stabilization theorem was presented to obtain the stable system,Lyaponov function method was used to prove the stabilization theorem.Finally,the closed system was evaluated on the two different Markov probability transition matrix.Experimental results show that this approach is valid and has encouraging stabilization performance.
出处
《机电工程》
CAS
2011年第5期577-581,共5页
Journal of Mechanical & Electrical Engineering
基金
国家高技术研究发展计划("863"计划)资助项目(2007AA704339)
关键词
在轨服务
双边控制
遥操作
机器人
线性矩阵不等式
on-orbit services
bilateral control
teleoperation
robot
linearity matrix inequations
