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Smith fuzzy control of teleoperation rendezvous with variable time delay

Zhang Bo Li Hai-Yang Tang Guo-Jin

Smith fuzzy control of teleoperation rendezvous with variable time delay

Zhang Bo, Li Hai-Yang, Tang Guo-Jin
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  • The control methods of ground-based teleoperation rendezvous with variable time delay are surveyed. With the help of root locus method, the influences of time delay on the stability and performance of the control system are analyzed. Then, a time-delay compensator is designed to transfer the variable delay into a constant. A predictive model is established based on the relative dynamic equations. After that, a multivariable Smith predictor is designed based on the principle of Smith predictor, which makes the control input state variables independent of variable time delay. At the same time, the fuzzy control method is introduced to alleviate the uncertainties in the teleoperation rendezvous system. Finally, semi-physical simulations are carried out to verify the methods presented in this paper. Simulation results show that time-delay compensation and Smith-Fuzzy control are effective in alleviating the variable time delay and model uncertainties in the process of teleoperation rendezvous, and the success probability and control accuracy can be improved.
    [1]

    Fehse W 2003 Automated rendezvous and docking of spacecraft (1st Ed.) (Cambridge: Cambridge University Press) p1

    [2]

    Li H Y, Luo Y Z, Zhang J, Tang G J 2010 Acta Astronaut. 66 439

    [3]

    Keith E C 1989 AIAA 129

    [4]

    Zhou J Y, Jiang Z C, Tang G J 2012 Sci. China Ser. G 55 339

    [5]

    Thomas B S 1993 IEEE T. Robotic. Autom. 9 592

    [6]

    Guo P, Hu H, Liu G R, Hu J D 2010 Acta Phys. Sin. 59 5925 (in Chinese) [郭鹏, 胡慧, 刘国荣, 胡俊达 2010 物理学报 59 5925]

    [7]

    Hokayem P F, Spong M W 2006 Automatica 42 2035

    [8]

    Liu F C, Wang J, Shi M, Gao X W 2002 Acta Phys. Sin. 51 2707 (in Chinese) [刘福才, 王娟, 石淼, 高秀伟 2010 物理学报 51 2707]

    [9]

    Wen S H, Wang Z, Liu F C 2009 Acta Phys. Sin. 58 3753 (in Chinese) [温淑焕, 王哲, 刘福才 2009 物理学报 58 3753]

    [10]

    Smith O J 1959 ISA T. 6 28

    [11]

    Rogelio L, Asok R 1990 Automatica 26 903

    [12]

    Wang S H, Xu B G, Wang Q Y 2005 Proceedings of IEEE International Conference on Robotics and Biomimetics Hongkong, 2005, p664

    [13]

    Li J R, Li H Y, Tang G J 2011 Sci. China Ser. E 54 1865

    [14]

    Gao X, Liu X W 2007 Acta Phys. Sin. 56 84 (in Chinese) [高心, 刘兴文 2007 物理学报 56 84]

    [15]

    G X P, C C L, F Z P 2002 Acta Phys. Sin. 51 754 (in Chinese) [关新平, 陈彩莲, 范正平 2002 物理学报 51 754]

    [16]

    David K G 2007 J. Guid. Control Dynam. 30 974

    [17]

    Luo Y Z, Liang L B, Wang H, Tang G J 2011 J. Guid. Control Dynam. 34 1264

    [18]

    Du F 2008 Ph. D. Dissertation (Emei Mountain: Southwest Jiaotong University) (in Chinese) [杜锋 2008 博士学位论文 (峨眉山: 西南交通大学)]

    [19]

    Kang B, Zhao Hong wei, Reng L L, Yan D M 2006 J. Jilin Univ. 24 42 (in Chinese) [康冰, 赵宏伟, 任丽莉, 闫冬梅 2006 吉林大学学报 24 42]

    [20]

    Yu S Y, Chen X Y 2008 J. Central South Univ. 39 799 (in Chinese) [喻寿益, 陈学一 2008 中南大学学报 39 799]

    [21]

    Huang C, Gui W H, Yang C H, Jiang Z H, Xie Y F 2010 Control Theory & Applications 27 1393 (in Chinese) [黄灿, 桂卫华, 阳春华, 蒋朝辉, 谢永芳 2010 控制理论与应用 27 1393]

    [22]

    Tang G J, Luo Y Z, Li H Y 2006 Aerosp. Sci. Technol. 11 563

    [23]

    Luo Y Z, Zhang J, Li H Y, Tang G J 2010 Acta Astronaut. 67 396

    [24]

    Li J R, Tang G J, Li H Y 2010 J. Astronautics 31 774 (in Chinese) [李九人, 唐国金, 李海阳 2010 宇航学报 31 774]

  • [1]

    Fehse W 2003 Automated rendezvous and docking of spacecraft (1st Ed.) (Cambridge: Cambridge University Press) p1

    [2]

    Li H Y, Luo Y Z, Zhang J, Tang G J 2010 Acta Astronaut. 66 439

    [3]

    Keith E C 1989 AIAA 129

    [4]

    Zhou J Y, Jiang Z C, Tang G J 2012 Sci. China Ser. G 55 339

    [5]

    Thomas B S 1993 IEEE T. Robotic. Autom. 9 592

    [6]

    Guo P, Hu H, Liu G R, Hu J D 2010 Acta Phys. Sin. 59 5925 (in Chinese) [郭鹏, 胡慧, 刘国荣, 胡俊达 2010 物理学报 59 5925]

    [7]

    Hokayem P F, Spong M W 2006 Automatica 42 2035

    [8]

    Liu F C, Wang J, Shi M, Gao X W 2002 Acta Phys. Sin. 51 2707 (in Chinese) [刘福才, 王娟, 石淼, 高秀伟 2010 物理学报 51 2707]

    [9]

    Wen S H, Wang Z, Liu F C 2009 Acta Phys. Sin. 58 3753 (in Chinese) [温淑焕, 王哲, 刘福才 2009 物理学报 58 3753]

    [10]

    Smith O J 1959 ISA T. 6 28

    [11]

    Rogelio L, Asok R 1990 Automatica 26 903

    [12]

    Wang S H, Xu B G, Wang Q Y 2005 Proceedings of IEEE International Conference on Robotics and Biomimetics Hongkong, 2005, p664

    [13]

    Li J R, Li H Y, Tang G J 2011 Sci. China Ser. E 54 1865

    [14]

    Gao X, Liu X W 2007 Acta Phys. Sin. 56 84 (in Chinese) [高心, 刘兴文 2007 物理学报 56 84]

    [15]

    G X P, C C L, F Z P 2002 Acta Phys. Sin. 51 754 (in Chinese) [关新平, 陈彩莲, 范正平 2002 物理学报 51 754]

    [16]

    David K G 2007 J. Guid. Control Dynam. 30 974

    [17]

    Luo Y Z, Liang L B, Wang H, Tang G J 2011 J. Guid. Control Dynam. 34 1264

    [18]

    Du F 2008 Ph. D. Dissertation (Emei Mountain: Southwest Jiaotong University) (in Chinese) [杜锋 2008 博士学位论文 (峨眉山: 西南交通大学)]

    [19]

    Kang B, Zhao Hong wei, Reng L L, Yan D M 2006 J. Jilin Univ. 24 42 (in Chinese) [康冰, 赵宏伟, 任丽莉, 闫冬梅 2006 吉林大学学报 24 42]

    [20]

    Yu S Y, Chen X Y 2008 J. Central South Univ. 39 799 (in Chinese) [喻寿益, 陈学一 2008 中南大学学报 39 799]

    [21]

    Huang C, Gui W H, Yang C H, Jiang Z H, Xie Y F 2010 Control Theory & Applications 27 1393 (in Chinese) [黄灿, 桂卫华, 阳春华, 蒋朝辉, 谢永芳 2010 控制理论与应用 27 1393]

    [22]

    Tang G J, Luo Y Z, Li H Y 2006 Aerosp. Sci. Technol. 11 563

    [23]

    Luo Y Z, Zhang J, Li H Y, Tang G J 2010 Acta Astronaut. 67 396

    [24]

    Li J R, Tang G J, Li H Y 2010 J. Astronautics 31 774 (in Chinese) [李九人, 唐国金, 李海阳 2010 宇航学报 31 774]

  • [1] Control of spiral waves in excitable media under polarized electric fields. Acta Physica Sinica, 2020, (): . doi: 10.7498/aps.69.20191934
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  • Received Date:  13 May 2012
  • Accepted Date:  10 August 2012
  • Published Online:  20 January 2013

Smith fuzzy control of teleoperation rendezvous with variable time delay

  • 1. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China

Abstract: The control methods of ground-based teleoperation rendezvous with variable time delay are surveyed. With the help of root locus method, the influences of time delay on the stability and performance of the control system are analyzed. Then, a time-delay compensator is designed to transfer the variable delay into a constant. A predictive model is established based on the relative dynamic equations. After that, a multivariable Smith predictor is designed based on the principle of Smith predictor, which makes the control input state variables independent of variable time delay. At the same time, the fuzzy control method is introduced to alleviate the uncertainties in the teleoperation rendezvous system. Finally, semi-physical simulations are carried out to verify the methods presented in this paper. Simulation results show that time-delay compensation and Smith-Fuzzy control are effective in alleviating the variable time delay and model uncertainties in the process of teleoperation rendezvous, and the success probability and control accuracy can be improved.

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