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针对无人机地面遥操作中存在的通信延时、丢包等实际情况,研究了一类具有随机时变通信时滞的遥操作系统的同步控制问题.建立了这种具有通信时滞的主、从遥操作系统的控制模型;采用基于Markov跳变模态参数的时变时滞函数来刻画遥控通信网络中的时滞,在随机系统框架下,通过均方意义下的稳定性分析,求解系统的同步控制问题.利用一个微小型四旋翼无人飞行器半物理仿真平台对本文方法进行验证,初步仿真结果表明,通过反馈线性化分别设计控制器,可以保证主、从端运动轨迹的有界性.
According to the actual situation of communication delay and packet loss in UAV terrestrial teleoperation, the synchronization control problem of a kind of teleoperation system with stochastic time-varying communication delay is studied. This kind of communication master , From the control model of the teleoperation system. The time-varying delay function based on Markov transition mode parameters is used to characterize the time delay in the telecontrol communication network. In the framework of the stochastic system, through the stability analysis of the mean square method, System synchronization control.The method of this paper is validated by a micro-quadrotor UAV semi-physical simulation platform.The preliminary simulation results show that the design of the controller by feedback linearization can ensure the bounded Sex.