一类具有随机时变通信时滞的遥操作系统同步控制

崔军辉; 魏瑞轩; 祁晓明

doi:10.7498/aps.63.230203

摘要

针对无人机地面遥操作中存在的通信延时、丢包等实际情况, 研究了一类具有随机时变通信时滞的遥操作系统的同步控制问题. 建立了这种具有通信时滞的主、从遥操作系统的控制模型; 采用基于Markov跳变模态参数的时变时滞函数来刻画遥控通信网络中的时滞, 在随机系统框架下, 通过均方意义下的稳定性分析, 求解系统的同步控制问题.利用一个微小型四旋翼无人飞行器半物理仿真平台对本文方法进行验证, 初步仿真结果表明, 通过反馈线性化分别设计控制器, 可以保证主、从端运动轨迹的有界性.

关键词:

Abstract

Synchronization control methods for a class of tele-operation system with stochastically time-varying communication delays are surveyed, aiming at the existing communication delays, packet loss, and so on, during the ground-based tele-operation of unmanned aerial vehicles. A control model for this class of master-slave tele-operation system with communication time delays is established. Then, the time delays within the remote control communication network are depicted by a time-varying-delay function, of which the modal parameters are transferred based on an ergodic Markov process. After that, the synchronization control problem of the system is solved by stability analysis of the mean square within the framework of the stochastic systems. Finally, the semi-physical simulation platforms of an unmanned micro-quadrotor are carried out to verify the methods presented in this paper; and the elementary simulation results show that the loci of the master-slave sides are all bounded through designing the controllers by the feedback linearization separately in the methods.

Keywords:

作者及机构信息

1.
空军工程大学无人机运用工程系, 西安 710038;

2.
中国人民解放军69220部队, 阿克苏 842000

基金项目: 国家自然科学基金(批准号:51201182,61105012)、中国航空科学基金(批准号:20135896027)和中国博士后科学基金(批准号:2012M512149)资助的课题.

Authors and contacts

1.
Unmanned Aerial Vehicle Application Engineering Department, Air Force Engineering University, Xi'an 710038, China;

2.
69220 People's Liberation Army Troops, Aksu 842000, China

Funds: Project supported by the National Natural Science Foundation of China (Grant Nos. 51201182, 61105012), the National Aviation Science Foundation of China (Grant No. 20135896027), and the China Postdoctoral Science Foundation (Grant No. 2012M512149).

参考文献

[1]	Ollero A, Merino L 2004 Annu. Rev. Control 28 167
[2]	Slawomir G, Giorgio G, Wolfram B 2012 IEEE Trans. Robot. 28 90
[3]	Niu Y F, Shen L C 2006 J. Electron. Inform. Technol. 28 1026 (in Chinese) [牛轶峰, 沈林成 2006 电子与信息学报 28 1026]
[4]	Niethammer U, James M R, Rothmund S, Travelletti J, Joswig M 2012 Eng. Geol. 128 2
[5]	Gerasimos G R 2012 Robot. Auton. Syst. 60 978
[6]	Sun H B, Zhou R, Zou L, Ding Q X 2011 Acta Aeronaut- Astronaut. Sin. 32 299 (in Chinese) [孙海波, 周锐, 邹丽, 丁全心 2011 航空学报 32 299]
[7]	Zhou J Y, Jiang Z C, Tang G J 2012 Sci. China G: Phys. Mech. Tech. 55 339
[8]	Wen S H, Yuan J Y 2010 Acta Phys. Sin. 59 1615 (in Chinese) [温淑焕, 袁俊英 2010 物理学报 59 1615]
[9]	Zhang W M, Li X, Liu S, Li Y Q, Wang B H 2013 Acta Phys. Sin. 62 094502 (in Chinese) [张文明, 李雪, 刘爽, 李雅倩, 王博华 2013 物理学报 62 094502]
[10]	Zhang B, Li H Y, Tang G J 2013 Acta Phys. Sin. 62 029601 (in Chinese) [张波, 李海洋, 唐国金 2013 物理学报 62 029601]
[11]	Rakkiyappan R, Sakthivel N, Lakshmanan S 2014 Chin. Phys. B 23 020205
[12]	Yang D S, Liu Z W, Zhao Y, Liu Z B 2012 Chin. Phys. B 21 040503
[13]	Park M J, Lee S M, Son J W, Kwon O M, Cha E J 2013 Chin. Phys. B 22 070506
[14]	Cairano S D, Bemporad A, Júlvez J 2009 Automatica 45 1243
[15]	Yang Y H, Fu M Y, Zhang H S 2013 Acta Automat. Sin. 39 237 (in Chinese) [杨园华, 付敏跃, 张焕水 2013 自动化学报 39 237]
[16]	Chen N, Shen X Y, Gui W H, Yang C H, Wang L Y 2011 Control Theory Appl. 28 1099 (in Chinese) [陈宁, 沈晓瑜, 桂卫华, 阳春华, 王凌云 2011 控制理论与应用 28 1099]
[17]	Liu C J, Chen W H, Andrews J 2011 Robot. Auton. Syst. 59 571
[18]	Han Q L 2005 Automatica 41 2171
[19]	Liu Y R, Wang Z D, Liang J L, Liu X H 2009 IEEE Trans. Neural. Networ. 20 1102
[20]	Xu S Y, Chen T W, Lam J 2003 IEEE Trans. Automat. Control 48 900
[21]	Kang Y, Li Z J, Shang W K, Xi H S 2012 Int. J. Innov. Comput. Inform. Control 8 61
[22]	Xie L H 1996 Int. J. Control 63 741
[23]	Kang Y, Li Z J, Shang W K, Xi H S 2010 IET Control Theory Appl. 4 2129

施引文献

[1]	Ollero A, Merino L 2004 Annu. Rev. Control 28 167
[2]	Slawomir G, Giorgio G, Wolfram B 2012 IEEE Trans. Robot. 28 90
[3]	Niu Y F, Shen L C 2006 J. Electron. Inform. Technol. 28 1026 (in Chinese) [牛轶峰, 沈林成 2006 电子与信息学报 28 1026]
[4]	Niethammer U, James M R, Rothmund S, Travelletti J, Joswig M 2012 Eng. Geol. 128 2
[5]	Gerasimos G R 2012 Robot. Auton. Syst. 60 978
[6]	Sun H B, Zhou R, Zou L, Ding Q X 2011 Acta Aeronaut- Astronaut. Sin. 32 299 (in Chinese) [孙海波, 周锐, 邹丽, 丁全心 2011 航空学报 32 299]
[7]	Zhou J Y, Jiang Z C, Tang G J 2012 Sci. China G: Phys. Mech. Tech. 55 339
[8]	Wen S H, Yuan J Y 2010 Acta Phys. Sin. 59 1615 (in Chinese) [温淑焕, 袁俊英 2010 物理学报 59 1615]
[9]	Zhang W M, Li X, Liu S, Li Y Q, Wang B H 2013 Acta Phys. Sin. 62 094502 (in Chinese) [张文明, 李雪, 刘爽, 李雅倩, 王博华 2013 物理学报 62 094502]
[10]	Zhang B, Li H Y, Tang G J 2013 Acta Phys. Sin. 62 029601 (in Chinese) [张波, 李海洋, 唐国金 2013 物理学报 62 029601]
[11]	Rakkiyappan R, Sakthivel N, Lakshmanan S 2014 Chin. Phys. B 23 020205
[12]	Yang D S, Liu Z W, Zhao Y, Liu Z B 2012 Chin. Phys. B 21 040503
[13]	Park M J, Lee S M, Son J W, Kwon O M, Cha E J 2013 Chin. Phys. B 22 070506
[14]	Cairano S D, Bemporad A, Júlvez J 2009 Automatica 45 1243
[15]	Yang Y H, Fu M Y, Zhang H S 2013 Acta Automat. Sin. 39 237 (in Chinese) [杨园华, 付敏跃, 张焕水 2013 自动化学报 39 237]
[16]	Chen N, Shen X Y, Gui W H, Yang C H, Wang L Y 2011 Control Theory Appl. 28 1099 (in Chinese) [陈宁, 沈晓瑜, 桂卫华, 阳春华, 王凌云 2011 控制理论与应用 28 1099]
[17]	Liu C J, Chen W H, Andrews J 2011 Robot. Auton. Syst. 59 571
[18]	Han Q L 2005 Automatica 41 2171
[19]	Liu Y R, Wang Z D, Liang J L, Liu X H 2009 IEEE Trans. Neural. Networ. 20 1102
[20]	Xu S Y, Chen T W, Lam J 2003 IEEE Trans. Automat. Control 48 900
[21]	Kang Y, Li Z J, Shang W K, Xi H S 2012 Int. J. Innov. Comput. Inform. Control 8 61
[22]	Xie L H 1996 Int. J. Control 63 741
[23]	Kang Y, Li Z J, Shang W K, Xi H S 2010 IET Control Theory Appl. 4 2129

计量

文章访问数: 4627
PDF下载量: 495
被引次数: 0

姓名
邮箱
手机号码
标题
留言内容
验证码

搜索

留言板