Design and Research of Time-Varying Delay Teleoperation - 文章详情页

作者：

Cui, Yan (Cui, Yan.) | Ju, H. -H. (Ju, H. -H..) | Cao, Ping (Cao, Ping.) | Dong, G. -H (Dong, G. -H.)

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CPCI-S

摘要：

this　paper　designs　a　new　program　for　mobile　robot　teleoperation　system　based　on　time-varying　delay.　Then,　based　on　the　stability　and　traceability,　external-gain　method　and　two-way　symmetrical　PID　feedback　is　introduced.　Moreover,　the　stability　of　system　is　analyzed　and　verified　by　Passive　Theory　and　Lyapunov　Theorem.　At　last,　experimental　results　show　that　the　program　can　ensure　the　stability　and　improve　the　traceability　effectively.

关键词：

stability teleoperation time-varying delay wave variable

作者机构：

[ 1 ] [Cui, Yan]Beijing Univ Technol, Dept Elect Informat & Control Engn, Beijing, Peoples R China
[ 2 ] [Ju, H. -H.]Beijing Univ Technol, Dept Elect Informat & Control Engn, Beijing, Peoples R China
[ 3 ] [Dong, G. -H]Beijing Univ Technol, Dept Elect Informat & Control Engn, Beijing, Peoples R China
[ 4 ] [Cao, Ping]Inner Mongolia Mengda New Energy Chem Ind Base De, Erdos, Inner Mongolia, Peoples R China

通讯作者信息：

[Cui, Yan]Beijing Univ Technol, Dept Elect Informat & Control Engn, Beijing, Peoples R China

电子邮件地址：

cuiyan5252@126.com |
mdcaoping@126.com

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