Control scheme for tradeoff between stability and performance in scaled telemanipulation
实现比率遥操作系统稳定性与性能折衷的策略

It is necessary for the scaled telemanipulation system to guarantee the stability and enhance the performance simultaneously.By modeling the system and introducing Llewellyn two-port network absolute stability criteria,the ideal performance of the scaled telemanipulation is defined,the control parameters restrictions of the system to realize the ideal performance is induced and the stability of the system with the ideal performance is analyzed.Based on the absolute stability criteria and the regulation of impendence of the master slave manipulator the control scheme is presented which can realize tradeoff between absolute stability and performance enhancement of the system in the passivity of the both operator and environment.Simulation results show the validity of the proposed control scheme.