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《第36届中国控制会议论文集(E)》2017年
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A Unified Predictive Display Scheme for Teleoperation Systems with Multi-time-delay Multi-rate Measurements and Missing Data

Rong-jian Liang  Tao Zhang  Chen-yao Xu  Zhang Chen  Gang Li  
【摘要】:Predictive display is a promising approach to tackle large time delays that greatly degrade the performance of teleoperation systems.In this paper,a unified predictive display scheme is proposed to deal with multi-time-delay multi-rate measurements and missing data,which is applicable for real systems.Firstly,a formal description of predictive display problem is introduced.Next the method principle is presented:through an equivalent transformation the original problem is converted into a standard filter problem and a prediction problem,which can be tackled by an observer-predictor structure;then the re-organized innovation analysis is utilized in the observer and is extended to deal with multi-time-delay multi-rate measurements as well as missing data with the help of indication functions.Finally simulations show the effectiveness of this approach.
【作者单位】:Navigation and Control Research Center,Tsinghua University Shenzhen Graduate School of Tsinghua University
【基金】:funded by National Natural Science Foundation of China(No.61673239) Science and technology project of Shenzhen(JCYJ20160428182227081) Natural Science Foundation of Guangdong Province(No.2015A030313881) China Postdoctoral Science Foundation(No.20159200078;No.2016T90102)
【分类号】:O231
【正文快照】:
1Introduction Teleoperation[l]extendsthehuman operator’s sens? ing and manipulation capability to remote workspace by incorporatingthehuman into the control loop of tele?operators.It has been applied to space exploring[2],deep sea manipulation[3],nu

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