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Generalized Predictive Control for Space Teleoperation Systems Based on Time Delay Prediction
Authors
余飞
化建宁
+4 more
张峰
李洪谊
杨艳华
阳方平
Publication date
1 January 2013
Publisher
Abstract
针对导致遥操作系统性能下降甚至不稳定的时变大时延问题,提出一种基于在线时延预测的广义预测控制(GPC)方法。鉴于空间遥操作系统一般由多自由度主、从端构成,而且环境模型未知,则在主端以一种基于稀疏矩阵的核非线性回归方法设计时延预测器,同时将多自由度从端机械臂的非线性动力学模型线性化,根据预测的时延设计GPC,使系统稳定并且满足位置和速度跟踪性能要求。在从端,通过设计非线性补偿器以补偿从端的非线性部分。仿真取得有效结果
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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oai:ir.sia.cn/:173321/12574
Last time updated on 12/02/2018
Institutional Repository of Institute of Automation, CAS
See this paper in CORE
Go to the repository landing page
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oai:ir.sia.cn/:173321/12574
Last time updated on 29/11/2016