空间遥控作业机器人系统的内模控制研究

针对空间遥控作业机器人系统通讯时延严重破坏系统性能的问题，为力反馈遥作业系统建立了内模结构，对系统的透明性和稳定性进行分析并给出了控制器设计结果。给出的控制方法不仅能兼顾系统在时延下的稳定性和透明性，而且可以实现主从机械手速度与力的动静态跟踪，使系统具有良好的力觉临场感。借助于内模结构，以透明性为目标的控制器设计独立于稳定性来进行，降低了设计的复杂度，增强了控制的灵活性。理论分析和仿真实验证明该方法有效。

Internal Model Control for Space Teleoperation Systems

Communication time delays in space teleoperation system communication channels always destroy the performance of the system. In order to solve these problems, a novel internal model structure was applied to the force reflecting space teleoperation system. The transparency and stability analysis were made based on this structure and controllers were given consequently. The method given not only well equilibrates the stability and transparency of the system under time delay, but also realizes the dynamic and static track between slave and master manipulators which makes good telepresence. Taking advantage of the special structure of internal model, controllers design aimed for transparency was made apart from the design for stability, which decreased the design complexity and made the control more flexible. The theoretical analysis and results of simulation show the effectiveness of the conclusion.