Title:
Control-of-Teleoperation
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Description: : For the telerobot system communication channel delay and system model uncertainty and may cause system instability and reduced operating performance, the use of the H mixed sensitivity robust control design master-slave robot controller. First general introduction to the composition and dynamics of the system model, and then for the more difficult issues of the weighting function to select the controller design, study a more practical method of weighting function selection, and control using MATLAB Robust Control Toolbox design, and finally given a random delay environment Simulink simulation results. The results show that the system still has good robust stability and tracking performance in the case of interference and communication channel there is a random delay.
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时延下遥操作机器人系统H∞鲁棒控制研究.pdf
