Predictive control of teleoperation systems based on observer
遥操作系统基于观测器的预测控制

In a teleoperation system,it is desirable to communicate states of the master and slave to each other.However,there exist communication time delays in transmission channels of a teleoperation system. Time delay will worsen the performance of the system.Moreover,the entire system tend to become unstable due to time delay.In order to eliminate or reduce the effect of time delay on the system,first of all,state space model of the system was derived.Secondly,time forward observer of the slave was established in local controller and the observer was employed to predict the state of the slave.Thirdly,force,state of the master and predicted state were used to design state feedback controller.Finally,stability and transparency condition was achieved.Feedback parameters could be easily obtained by solving a linear matrix inequality.In a word,the above method can ensure that the system is stable and the transparency is good.The results of the simulation show the effectiveness of the conclusion.