Design And Simulation Of Delay-Time Controller Of Teleoperation System Based On Internet

Internet-based teleoperation robot system is a complex delay-time system, which enable slave track master's movement in order to carrying out tasks in dangerous environments such as in the sky, under the sea and in the radiating situations etc. Teleoperation robotic technology is catching much attention from researchers all over the world. In this dissertaion, firstly, the time-delay of Internet will be analyzed and tested, what's more, stability of teleoperation robot system is researched via Riccati and LMI, in the end, delay-time controller of Internet-based teleoperation robot system is designed. The main work of this dissertaion are as follows:Through research of characteristics about Internet-based teleoperation robot system network delay-time, communication modes and communication protocol of teleoperation robot system are analyzed, the network delay-time simplified model is constructed. On the foundation of these research, delay test within the campus network based on different transmission protocol is achieved. Acording to the analysis of the delay-time test results, and we draw the conclusion that a controller focusing delay-time is essential to stability of system.Basic components of the teleoperation robot system is analyzed, according to the basic principles of rigid mechanics, the simplified model of single-freedom manipulator is constructed, state-space model, which reflect the actual working state of teleoperation robot system, is derived by introducing uncertain parameters and reasonable performance evaluation signal.Robust controller algorithm of teleoperation robot system is discussed, the memorial position velocity and forcefeedback control methods is presented. Combining the equation of state space models, feedback parameters solving plans vis Ricatti equations and LMI are compared, this dissertaion finds their respective advantages through analysis, In the end, based on factual demand of the system controller, aγ-suboptimal H_∞discrete controller strategy is presented.The system controller strategy firstly finish the discrete task of the simplified mathematical system model of single-freedom, then, Memorial location and velocity feedback discrete controller of system is designed in order to reduce the tracking error, finally theγ-suboptimal performance indicators is used to optimize the design.In this dissertaion, a discrete controller is simulated and the results show that the controller design plan without additional restrictions gets a better effect in that ensuring the stability of the entire system and realizing small error tracking.